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footstep_planner::PathCostHeuristic Class Reference

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...

#include <PathCostHeuristic.h>

Inheritance diagram for footstep_planner::PathCostHeuristic:
Inheritance graph
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List of all members.

Public Member Functions

bool calculateDistances (const PlanningState &from, const PlanningState &to)
 Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.
virtual double getHValue (const PlanningState &current, const PlanningState &to) const
 PathCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width, double inflation_radius)
void updateMap (gridmap_2d::GridMap2DPtr map)
virtual ~PathCostHeuristic ()

Private Member Functions

void resetGrid ()

Private Attributes

double ivDiffAngleCost
int ivGoalX
int ivGoalY
boost::shared_ptr
< SBPL2DGridSearch
ivGridSearchPtr
double ivInflationRadius
gridmap_2d::GridMap2DPtr ivMapPtr
double ivMaxStepWidth
unsigned char ** ivpGrid
double ivStepCost

Static Private Attributes

static const int cvObstacleThreshold = 200

Detailed Description

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance.

The heuristic value consists of the following factors:

+ The expected distance retreived from the 2D path.

+ The expected path costs.

+ The difference between the orientation of the two states multiplied by some cost factor.

Definition at line 48 of file PathCostHeuristic.h.


Constructor & Destructor Documentation

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

Definition at line 29 of file PathCostHeuristic.cpp.

footstep_planner::PathCostHeuristic::~PathCostHeuristic (  )  [virtual]

Definition at line 46 of file PathCostHeuristic.cpp.


Member Function Documentation

bool footstep_planner::PathCostHeuristic::calculateDistances ( const PlanningState from,
const PlanningState to 
)

Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.

Definition at line 107 of file PathCostHeuristic.cpp.

double footstep_planner::PathCostHeuristic::getHValue ( const PlanningState current,
const PlanningState to 
) const [virtual]
Returns:
The estimated costs needed to reach the state 'to' from within the current state.

Implements footstep_planner::Heuristic.

Definition at line 54 of file PathCostHeuristic.cpp.

void footstep_planner::PathCostHeuristic::resetGrid (  )  [private]

Definition at line 175 of file PathCostHeuristic.cpp.

void footstep_planner::PathCostHeuristic::updateMap ( gridmap_2d::GridMap2DPtr  map  ) 

Definition at line 138 of file PathCostHeuristic.cpp.


Member Data Documentation

Definition at line 74 of file PathCostHeuristic.h.

Definition at line 79 of file PathCostHeuristic.h.

Definition at line 83 of file PathCostHeuristic.h.

Definition at line 84 of file PathCostHeuristic.h.

Definition at line 87 of file PathCostHeuristic.h.

Definition at line 81 of file PathCostHeuristic.h.

Definition at line 86 of file PathCostHeuristic.h.

Definition at line 80 of file PathCostHeuristic.h.

Definition at line 76 of file PathCostHeuristic.h.

Definition at line 78 of file PathCostHeuristic.h.


The documentation for this class was generated from the following files:
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footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Tue Mar 5 11:44:04 2013