Public Member Functions | Private Attributes | List of all members
footstep_planner::EuclStepCostHeuristic Class Reference

Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.) More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::EuclStepCostHeuristic:
Inheritance graph
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Public Member Functions

 EuclStepCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width)
 
virtual double getHValue (const PlanningState &from, const PlanningState &to) const
 
virtual ~EuclStepCostHeuristic ()
 
- Public Member Functions inherited from footstep_planner::Heuristic
HeuristicType getHeuristicType () const
 
 Heuristic (double cell_size, int num_angle_bins, HeuristicType type)
 
virtual ~Heuristic ()
 

Private Attributes

const double ivDiffAngleCost
 
const double ivMaxStepWidth
 longest step width More...
 
const double ivStepCost
 

Additional Inherited Members

- Public Types inherited from footstep_planner::Heuristic
enum  HeuristicType { EUCLIDEAN =0, EUCLIDEAN_STEPCOST =1, PATH_COST =2 }
 
- Protected Attributes inherited from footstep_planner::Heuristic
double ivCellSize
 
const HeuristicType ivHeuristicType
 
int ivNumAngleBins
 

Detailed Description

Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.)

Definition at line 82 of file Heuristic.h.

Constructor & Destructor Documentation

footstep_planner::EuclStepCostHeuristic::EuclStepCostHeuristic ( double  cell_size,
int  num_angle_bins,
double  step_cost,
double  diff_angle_cost,
double  max_step_width 
)

Definition at line 62 of file Heuristic.cpp.

footstep_planner::EuclStepCostHeuristic::~EuclStepCostHeuristic ( )
virtual

Definition at line 74 of file Heuristic.cpp.

Member Function Documentation

double footstep_planner::EuclStepCostHeuristic::getHValue ( const PlanningState from,
const PlanningState to 
) const
virtual
Returns
The heuristically determined path costs to get from state 'from' to state 'to' where 'to' is supposed to be the goal of the planning task. (Costs are in meter.)

Implements footstep_planner::Heuristic.

Definition at line 79 of file Heuristic.cpp.

Member Data Documentation

const double footstep_planner::EuclStepCostHeuristic::ivDiffAngleCost
private

Definition at line 96 of file Heuristic.h.

const double footstep_planner::EuclStepCostHeuristic::ivMaxStepWidth
private

longest step width

Definition at line 99 of file Heuristic.h.

const double footstep_planner::EuclStepCostHeuristic::ivStepCost
private

Definition at line 95 of file Heuristic.h.


The documentation for this class was generated from the following files:


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Mon Jun 10 2019 13:38:25