footstep_planner: footstep_planner: Heuristic.h Source File

00001 // SVN $HeadURL: http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/Heuristic.h $
00002 // SVN $Id: Heuristic.h 3298 2012-09-28 11:37:38Z hornunga@informatik.uni-freiburg.de $
00003 
00004 /*
00005  * A footstep planner for humanoid robots
00006  *
00007  * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
00008  * http://www.ros.org/wiki/footstep_planner
00009  *
00010  *
00011  * This program is free software: you can redistribute it and/or modify
00012  * it under the terms of the GNU General Public License as published by
00013  * the Free Software Foundation, version 3.
00014  *
00015  * This program is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  * GNU General Public License for more details.
00019  *
00020  * You should have received a copy of the GNU General Public License
00021  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  */
00023 
00024 #ifndef FOOTSTEP_PLANNER_HEURISTIC_H_
00025 #define FOOTSTEP_PLANNER_HEURISTIC_H_
00026 
00027 #include <footstep_planner/helper.h>
00028 #include <footstep_planner/PlanningState.h>
00029 
00030 
00031 namespace footstep_planner
00032 {
00037 class Heuristic
00038 {
00039 public:
00040   enum HeuristicType { EUCLIDEAN=0, EUCLIDEAN_STEPCOST=1, PATH_COST=2 };
00041 
00042   Heuristic(double cell_size, int num_angle_bins, HeuristicType type);
00043   virtual ~Heuristic();
00044 
00050   virtual double getHValue(const PlanningState& from,
00051                            const PlanningState& to) const = 0;
00052 
00053   HeuristicType getHeuristicType() const { return ivHeuristicType; };
00054 
00055 protected:
00056   double ivCellSize;
00057   int    ivNumAngleBins;
00058 
00059   const HeuristicType ivHeuristicType;
00060 };
00061 
00062 
00067 class EuclideanHeuristic : public Heuristic
00068 {
00069 public:
00070   EuclideanHeuristic(double cell_size, int num_angle_bins);
00071   virtual ~EuclideanHeuristic();
00072 
00073   virtual double getHValue(const PlanningState& from,
00074                            const PlanningState& to) const;
00075 };
00076 
00077 
00085 class EuclStepCostHeuristic : public Heuristic
00086 {
00087 
00088 public:
00089   EuclStepCostHeuristic(double cell_size, int num_angle_bins,
00090                         double step_cost, double diff_angle_cost,
00091                         double max_step_width);
00092   virtual ~EuclStepCostHeuristic();
00093 
00094   virtual double getHValue(const PlanningState& from,
00095                            const PlanningState& to) const;
00096 
00097 private:
00098   const double ivStepCost;
00099   const double ivDiffAngleCost;
00100 
00102   const double ivMaxStepWidth;
00103 };
00104 }
00105 #endif  // FOOTSTEP_PLANNER_HEURISTIC_H_