heuristic.h
Go to the documentation of this file.
1 //=================================================================================================
2 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
3 // All rights reserved.
4 
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 // * Redistributions in binary form must reproduce the above copyright
10 // notice, this list of conditions and the following disclaimer in the
11 // documentation and/or other materials provided with the distribution.
12 // * Neither the name of the Simulation, Systems Optimization and Robotics
13 // group, TU Darmstadt nor the names of its contributors may be used to
14 // endorse or promote products derived from this software without
15 // specific prior written permission.
16 
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
18 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
19 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
20 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //=================================================================================================
28 
29 #ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_HEURISTIC_H__
30 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_HEURISTIC_H__
31 
32 #include <ros/ros.h>
33 
36 
37 
38 
40 {
41 class Heuristic
42  : public ExtendedPluginAggregator<Heuristic, HeuristicPlugin>
43 {
44 public:
45  Heuristic();
46 
47  double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const;
48 };
49 }
50 
51 #endif
double getHeuristicValue(const State &from, const State &to, const State &start, const State &goal) const
Definition: heuristic.cpp:12


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:39