path_cost_heuristic.h

Go to the documentation of this file.

//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef VIGIR_FOOTSTEP_PLANNING_PATH_COST_HEURISTIC_H_
#define VIGIR_FOOTSTEP_PLANNING_PATH_COST_HEURISTIC_H_

#include <sbpl/headers.h>

#include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h>

#include <vigir_footstep_planning_default_plugins/world_model/grid_map_2d.h>



namespace vigir_footstep_planning
{
class PathCostHeuristic
  : public HeuristicPlugin
{
public:
  PathCostHeuristic();

  ~PathCostHeuristic();

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const override;

  bool calculateDistances(const State& from, const State& to);

  void updateMap(vigir_gridmap_2d::GridMap2DPtr map);

protected:
  static const int cvObstacleThreshold = 200;

  unsigned char** ivpGrid;

  double ivCellSize;
  int ivNumAngleBins;
  double ivAngleBinSize;

  double ivStepCost;
  double ivDiffAngleCost;
  double ivMaxStepWidth;
  double ivInflationRadius;

  int ivGoalX;
  int ivGoalY;

  vigir_gridmap_2d::GridMap2DPtr ivMapPtr;
  boost::shared_ptr<SBPL2DGridSearch> ivGridSearchPtr;

  void resetGrid();
};
}

#endif