Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes
vigir_footstep_planning::PathCostHeuristic Class Reference

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...

#include <path_cost_heuristic.h>

List of all members.

Public Member Functions

bool calculateDistances (const State &from, const State &to)
 Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.
double getHeuristicValue (const State &from, const State &to, const State &start, const State &goal) const override
bool loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
 PathCostHeuristic ()
void updateMap (vigir_gridmap_2d::GridMap2DPtr map)
 ~PathCostHeuristic ()

Protected Member Functions

void resetGrid ()

Protected Attributes

double ivAngleBinSize
double ivCellSize
double ivDiffAngleCost
int ivGoalX
int ivGoalY
boost::shared_ptr
< SBPL2DGridSearch > 
ivGridSearchPtr
double ivInflationRadius
vigir_gridmap_2d::GridMap2DPtr ivMapPtr
double ivMaxStepWidth
int ivNumAngleBins
unsigned char ** ivpGrid
double ivStepCost

Static Protected Attributes

static const int cvObstacleThreshold = 200

Detailed Description

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance.

The heuristic value consists of the following factors:

+ The expected distance retreived from the 2D path.

+ The expected path costs.

+ The difference between the orientation of the two states multiplied by some cost factor.

Definition at line 57 of file path_cost_heuristic.h.


Constructor & Destructor Documentation

Definition at line 9 of file path_cost_heuristic.cpp.

Definition at line 17 of file path_cost_heuristic.cpp.


Member Function Documentation

bool vigir_footstep_planning::PathCostHeuristic::calculateDistances ( const State &  from,
const State &  to 
)

Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.

Definition at line 83 of file path_cost_heuristic.cpp.

double vigir_footstep_planning::PathCostHeuristic::getHeuristicValue ( const State &  from,
const State &  to,
const State &  start,
const State &  goal 
) const [override]
Returns:
The estimated costs needed to reach the state 'to' from within the current state.

Definition at line 40 of file path_cost_heuristic.cpp.

bool vigir_footstep_planning::PathCostHeuristic::loadParams ( const vigir_generic_params::ParameterSet &  params = vigir_generic_params::ParameterSet()) [override]

TODO ivInflationRadius

Definition at line 23 of file path_cost_heuristic.cpp.

Definition at line 146 of file path_cost_heuristic.cpp.

Definition at line 111 of file path_cost_heuristic.cpp.


Member Data Documentation

Definition at line 84 of file path_cost_heuristic.h.

Definition at line 90 of file path_cost_heuristic.h.

Definition at line 88 of file path_cost_heuristic.h.

Definition at line 93 of file path_cost_heuristic.h.

Definition at line 97 of file path_cost_heuristic.h.

Definition at line 98 of file path_cost_heuristic.h.

boost::shared_ptr<SBPL2DGridSearch> vigir_footstep_planning::PathCostHeuristic::ivGridSearchPtr [protected]

Definition at line 101 of file path_cost_heuristic.h.

Definition at line 95 of file path_cost_heuristic.h.

Definition at line 100 of file path_cost_heuristic.h.

Definition at line 94 of file path_cost_heuristic.h.

Definition at line 89 of file path_cost_heuristic.h.

Definition at line 86 of file path_cost_heuristic.h.

Definition at line 92 of file path_cost_heuristic.h.


The documentation for this class was generated from the following files:


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:07