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 <step_cost_heuristic.h>
|
| double | getHeuristicValue (const State &from, const State &to, const State &start, const State &goal) const override |
| |
| bool | loadParams (const vigir_generic_params::ParameterSet ¶ms=vigir_generic_params::ParameterSet()) override |
| |
| | StepCostHeuristic () |
| |
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 48 of file step_cost_heuristic.h.
| vigir_footstep_planning::StepCostHeuristic::StepCostHeuristic |
( |
| ) |
|
| double vigir_footstep_planning::StepCostHeuristic::getHeuristicValue |
( |
const State & |
from, |
|
|
const State & |
to, |
|
|
const State & |
start, |
|
|
const State & |
goal |
|
) |
| const |
|
override |
| bool vigir_footstep_planning::StepCostHeuristic::loadParams |
( |
const vigir_generic_params::ParameterSet & |
params = vigir_generic_params::ParameterSet() | ) |
|
|
override |
| double vigir_footstep_planning::StepCostHeuristic::diff_angle_cost_ |
|
protected |
| double vigir_footstep_planning::StepCostHeuristic::max_step_dist_x_inv_ |
|
protected |
| double vigir_footstep_planning::StepCostHeuristic::max_step_dist_y_inv_ |
|
protected |
| double vigir_footstep_planning::StepCostHeuristic::step_cost_ |
|
protected |
The documentation for this class was generated from the following files:
