Public Types | Public Member Functions | Protected Attributes | List of all members
footstep_planner::Heuristic Class Referenceabstract

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner. More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::Heuristic:
Inheritance graph

Public Types

enum  HeuristicType { EUCLIDEAN =0, EUCLIDEAN_STEPCOST =1, PATH_COST =2 }

Public Member Functions

HeuristicType getHeuristicType () const
virtual double getHValue (const PlanningState &from, const PlanningState &to) const =0
 Heuristic (double cell_size, int num_angle_bins, HeuristicType type)
virtual ~Heuristic ()

Protected Attributes

double ivCellSize
const HeuristicType ivHeuristicType
int ivNumAngleBins

Detailed Description

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner.

Definition at line 34 of file Heuristic.h.

Member Enumeration Documentation


Definition at line 37 of file Heuristic.h.

Constructor & Destructor Documentation

footstep_planner::Heuristic::Heuristic ( double  cell_size,
int  num_angle_bins,
HeuristicType  type 

Definition at line 25 of file Heuristic.cpp.

footstep_planner::Heuristic::~Heuristic ( )

Definition at line 33 of file Heuristic.cpp.

Member Function Documentation

HeuristicType footstep_planner::Heuristic::getHeuristicType ( ) const

Definition at line 50 of file Heuristic.h.

virtual double footstep_planner::Heuristic::getHValue ( const PlanningState from,
const PlanningState to 
) const
pure virtual
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.)

Implemented in footstep_planner::EuclStepCostHeuristic, footstep_planner::EuclideanHeuristic, and footstep_planner::PathCostHeuristic.

Member Data Documentation

double footstep_planner::Heuristic::ivCellSize

Definition at line 53 of file Heuristic.h.

const HeuristicType footstep_planner::Heuristic::ivHeuristicType

Definition at line 56 of file Heuristic.h.

int footstep_planner::Heuristic::ivNumAngleBins

Definition at line 54 of file Heuristic.h.

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

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