euclidean_heuristic.cpp
Go to the documentation of this file.
00001 #include <vigir_footstep_planning_default_plugins/heuristics/euclidean_heuristic.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 EuclideanHeuristic::EuclideanHeuristic()
00008 : HeuristicPlugin("euclidean_heuristic")
00009 {}
00010 
00011 double EuclideanHeuristic::getHeuristicValue(const State& from, const State& to, const State& /*start*/, const State& /*goal*/) const
00012 {
00013   if (from == to)
00014     return 0.0;
00015 
00016   return euclidean_distance(from.getX(), from.getY(), from.getZ(), to.getX(), to.getY(), to.getZ());
00017 }
00018 }
00019 
00020 #include <pluginlib/class_list_macros.h>
00021 PLUGINLIB_EXPORT_CLASS(vigir_footstep_planning::EuclideanHeuristic, vigir_footstep_planning::HeuristicPlugin)


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:40