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>

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

vigir_footstep_planning::PathCostHeuristic::PathCostHeuristic ( )

Definition at line 9 of file path_cost_heuristic.cpp.

vigir_footstep_planning::PathCostHeuristic::~PathCostHeuristic ( )

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.

void vigir_footstep_planning::PathCostHeuristic::resetGrid ( ) [protected]

Definition at line 146 of file path_cost_heuristic.cpp.

void vigir_footstep_planning::PathCostHeuristic::updateMap ( vigir_gridmap_2d::GridMap2DPtr map )

Definition at line 111 of file path_cost_heuristic.cpp.