#include <map_step_cost_estimator.h>

Public Member Functions
bool	getCost (const State &left_foot, const State &right_foot, const State &swing_foot, double &cost, double &cost_multiplier, double &risk, double &risk_multiplier) const override
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
	MapStepCostEstimator ()
Protected Member Functions
void	insert (const std::vector< double > &key, const std::pair< double, double > &entry)
void	loadFromFile (const std::string &filename)
template<class T >
void	read (std::ifstream &in, T &value)
Protected Attributes
double	angle_bin_size
double	cell_size
boost::unordered_map < StepCostKey, std::pair < double, double > >	cost_map
float	max_x
float	max_y
float	max_yaw
float	min_x
float	min_y
float	min_yaw
uint32_t	num_angle_bin

Detailed Description

Definition at line 42 of file map_step_cost_estimator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::MapStepCostEstimator::MapStepCostEstimator ( )

Definition at line 7 of file map_step_cost_estimator.cpp.

Member Function Documentation

bool vigir_footstep_planning::MapStepCostEstimator::getCost	(	const State &	left_foot,
		const State &	right_foot,
		const State &	swing_foot,
		double &	cost,
		double &	cost_multiplier,
		double &	risk,
		double &	risk_multiplier
	)		const `[override]`

Definition at line 25 of file map_step_cost_estimator.cpp.

void vigir_footstep_planning::MapStepCostEstimator::insert	(	const std::vector< double > &	key,
		const std::pair< double, double > &	entry
	)		`[protected]`

Definition at line 69 of file map_step_cost_estimator.cpp.

void vigir_footstep_planning::MapStepCostEstimator::loadFromFile ( const std::string & filename ) [protected]

Definition at line 74 of file map_step_cost_estimator.cpp.

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

Definition at line 12 of file map_step_cost_estimator.cpp.

template<class T >