PathCostHeuristic.h
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00001 /*
00002  * A footstep planner for humanoid robots
00003  *
00004  * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
00005  * http://www.ros.org/wiki/footstep_planner
00006  *
00007  *
00008  * This program is free software: you can redistribute it and/or modify
00009  * it under the terms of the GNU General Public License as published by
00010  * the Free Software Foundation, version 3.
00011  *
00012  * This program is distributed in the hope that it will be useful,
00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  * GNU General Public License for more details.
00016  *
00017  * You should have received a copy of the GNU General Public License
00018  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00021 #ifndef FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_
00022 #define FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_
00023 
00024 #include <footstep_planner/Heuristic.h>
00025 #include <gridmap_2d/GridMap2D.h>
00026 #include <sbpl/headers.h>
00027 
00028 
00029 namespace footstep_planner
00030 {
00045 class PathCostHeuristic : public Heuristic
00046 {
00047 public:
00048   PathCostHeuristic(double cell_size, int num_angle_bins,
00049                     double step_cost, double diff_angle_cost,
00050                     double max_step_width, double inflation_radius);
00051   virtual ~PathCostHeuristic();
00052 
00057   virtual double getHValue(const PlanningState& current,
00058                            const PlanningState& to) const;
00059 
00066   bool calculateDistances(const PlanningState& from, const PlanningState& to);
00067 
00068   void updateMap(gridmap_2d::GridMap2DPtr map);
00069 
00070 private:
00071   static const int cvObstacleThreshold = 200;
00072 
00073   unsigned char** ivpGrid;
00074 
00075   double ivStepCost;
00076   double ivDiffAngleCost;
00077   double ivMaxStepWidth;
00078   double ivInflationRadius;
00079 
00080   int ivGoalX;
00081   int ivGoalY;
00082 
00083   gridmap_2d::GridMap2DPtr ivMapPtr;
00084   boost::shared_ptr<SBPL2DGridSearch> ivGridSearchPtr;
00085 
00086   void resetGrid();
00087 };
00088 }
00089 #endif  // FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Sat Jun 8 2019 20:21:05