boundary_step_cost_estimator.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_BOUNDARY_STEP_COST_ESTIMATOR_H
#define VIGIR_FOOTSTEP_PLANNING_BOUNDARY_STEP_COST_ESTIMATOR_H

#include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h>



namespace vigir_footstep_planning
{
class BoundaryStepCostEstimator
  : public StepCostEstimatorPlugin
{
public:
  BoundaryStepCostEstimator();

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const override;

protected:
  double max_diff_z;                      // maximum amount for step up/down
  double long_step_dist;                  // all larger distances are treated as long distance [m]
  double min_yaw_seperation_enlargement;  // min yaw before seperation must be increased
  double yaw_enlarged_min_seperation;     // min separation needed when foot turned in
  double cost_roll_abs;                   // cost for roll angle (absolute) [1/rad]
  double cost_pitch_abs;                  // cost for pitch angle (absolute) [1/rad]
  double cost_yaw_rel;                    // cost for yaw angle (relative to previous foot) [1/rad]
  double cost_height_diff_rel;            // cost for height diff (relative to previous foot) [1/m]
};
}

#endif