00001 #include <vigir_footstep_planning_default_plugins/step_cost_estimators/const_step_cost_estimator.h> 00002 00003 00004 00005 namespace vigir_footstep_planning 00006 { 00007 ConstStepCostEstimator::ConstStepCostEstimator() 00008 : StepCostEstimatorPlugin("const_step_cost_estimator") 00009 { 00010 } 00011 00012 bool ConstStepCostEstimator::loadParams(const vigir_generic_params::ParameterSet& params) 00013 { 00014 if (!StepCostEstimatorPlugin::loadParams(params)) 00015 return false; 00016 00017 params.getParam("const_step_cost_estimator/step_cost", const_step_cost, 0.1); 00018 return true; 00019 } 00020 00021 bool ConstStepCostEstimator::getCost(const State& /*left_foot*/, const State& /*right_foot*/, const State& /*swing_foot*/, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const 00022 { 00023 cost = const_step_cost; 00024 cost_multiplier = 1.0; 00025 risk = 0.0; 00026 risk_multiplier = 1.0; 00027 return true; 00028 } 00029 } 00030 00031 #include <pluginlib/class_list_macros.h> 00032 PLUGINLIB_EXPORT_CLASS(vigir_footstep_planning::ConstStepCostEstimator, vigir_footstep_planning::StepCostEstimatorPlugin)