00001 //================================================================================================= 00002 // Copyright (c) 2018, Alexander Stumpf, TU Darmstadt 00003 // Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung 00004 // All rights reserved. 00005 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of the Simulation, Systems Optimization and Robotics 00014 // group, TU Darmstadt nor the names of its contributors may be used to 00015 // endorse or promote products derived from this software without 00016 // specific prior written permission. 00017 00018 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00019 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00020 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00022 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00023 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00024 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00025 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00026 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00027 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 //================================================================================================= 00029 00030 #ifndef VIGIR_FOOTSTEP_PLANNING_PATH_COST_HEURISTIC_H_ 00031 #define VIGIR_FOOTSTEP_PLANNING_PATH_COST_HEURISTIC_H_ 00032 00033 #include <sbpl/headers.h> 00034 00035 #include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h> 00036 00037 #include <vigir_footstep_planning_default_plugins/world_model/grid_map_2d.h> 00038 00039 00040 00041 namespace vigir_footstep_planning 00042 { 00057 class PathCostHeuristic 00058 : public HeuristicPlugin 00059 { 00060 public: 00061 PathCostHeuristic(); 00062 00063 ~PathCostHeuristic(); 00064 00065 bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override; 00066 00071 double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const override; 00072 00079 bool calculateDistances(const State& from, const State& to); 00080 00081 void updateMap(vigir_gridmap_2d::GridMap2DPtr map); 00082 00083 protected: 00084 static const int cvObstacleThreshold = 200; 00085 00086 unsigned char** ivpGrid; 00087 00088 double ivCellSize; 00089 int ivNumAngleBins; 00090 double ivAngleBinSize; 00091 00092 double ivStepCost; 00093 double ivDiffAngleCost; 00094 double ivMaxStepWidth; 00095 double ivInflationRadius; 00096 00097 int ivGoalX; 00098 int ivGoalY; 00099 00100 vigir_gridmap_2d::GridMap2DPtr ivMapPtr; 00101 boost::shared_ptr<SBPL2DGridSearch> ivGridSearchPtr; 00102 00103 void resetGrid(); 00104 }; 00105 } 00106 00107 #endif