teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi > Class Template Reference

Base edge connecting a single vertex in the TEB optimization problem. More...

#include <base_teb_edges.h>

Inheritance diagram for teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >:

List of all members.

Public Member Functions
	BaseTebUnaryEdge ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
virtual bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~BaseTebUnaryEdge ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.

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Detailed Description

template<int D, typename E, typename VertexXi>
class teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >

Base edge connecting a single vertex in the TEB optimization problem.

This edge defines a base edge type for the TEB optimization problem. It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. Memory of edges should be freed by calling the clearEdge method of the g2o optimzier class.

See also:

BaseTebMultiEdge, BaseTebBinaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge

Definition at line 70 of file base_teb_edges.h.

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Constructor & Destructor Documentation

template<int D, typename E, typename VertexXi>

teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::BaseTebUnaryEdge

(

)

[inline]

Construct edge.

Definition at line 80 of file base_teb_edges.h.

template<int D, typename E, typename VertexXi>

virtual teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::~BaseTebUnaryEdge

(

)

[inline, virtual]

Destruct edge.

We need to erase vertices manually, since we want to keep them even if TebOptimalPlanner::clearGraph() is called. This is necessary since the vertices are managed by the Timed_Elastic_Band class.

Definition at line 91 of file base_teb_edges.h.

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Member Function Documentation

template<int D, typename E, typename VertexXi>

ErrorVector& teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::getError

(

)

[inline]

Compute and return error / cost value.

This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.

Returns:

2D Cost / error vector [nh cost, backward drive dir cost]^T

Definition at line 103 of file base_teb_edges.h.

template<int D, typename E, typename VertexXi>

virtual bool teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::read

(

std::istream &

is

)

[inline, virtual]

Read values from input stream.

Definition at line 112 of file base_teb_edges.h.

template<int D, typename E, typename VertexXi>

void teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 131 of file base_teb_edges.h.

template<int D, typename E, typename VertexXi>

virtual bool teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::write

(

std::ostream &

os

)

const [inline, virtual]

Write values to an output stream.

Definition at line 121 of file base_teb_edges.h.

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Member Data Documentation

template<int D, typename E, typename VertexXi>

const TebConfig* teb_local_planner::BaseTebUnaryEdge< D, E, VertexXi >::cfg_ [protected]

Store TebConfig class for parameters.

Definition at line 141 of file base_teb_edges.h.

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The documentation for this class was generated from the following file:

• base_teb_edges.h