teb_local_planner::CircularRobotFootprint Class Reference

Class that defines the a robot of circular shape. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::CircularRobotFootprint:

List of all members.

Public Member Functions
virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
	Calculate the distance between the robot and an obstacle.
	CircularRobotFootprint (double radius)
	Default constructor of the abstract obstacle class.
virtual double	getInscribedRadius ()
	Compute the inscribed radius of the footprint model.
void	setRadius (double radius)
	Set radius of the circular robot.
virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
	Visualize the robot using a markers.
virtual	~CircularRobotFootprint ()
	Virtual destructor.
Private Attributes
double	radius_

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Detailed Description

Class that defines the a robot of circular shape.

Definition at line 162 of file robot_footprint_model.h.

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Constructor & Destructor Documentation

teb_local_planner::CircularRobotFootprint::CircularRobotFootprint

(

double

radius

)

[inline]

Default constructor of the abstract obstacle class.

Parameters:

radius

radius of the robot

Definition at line 170 of file robot_footprint_model.h.

virtual teb_local_planner::CircularRobotFootprint::~CircularRobotFootprint

(

)

[inline, virtual]

Virtual destructor.

Definition at line 175 of file robot_footprint_model.h.

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Member Function Documentation

virtual double teb_local_planner::CircularRobotFootprint::calculateDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle
	)		const [inline, virtual]

Calculate the distance between the robot and an obstacle.

Parameters:

current_pose	Current robot pose
obstacle	Pointer to the obstacle

Returns:

Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 189 of file robot_footprint_model.h.

virtual double teb_local_planner::CircularRobotFootprint::getInscribedRadius

(

)

[inline, virtual]

Compute the inscribed radius of the footprint model.

Returns:

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 220 of file robot_footprint_model.h.

void teb_local_planner::CircularRobotFootprint::setRadius

(

double

radius

)

[inline]

Set radius of the circular robot.

Parameters:

radius

radius of the robot

Definition at line 181 of file robot_footprint_model.h.

virtual void teb_local_planner::CircularRobotFootprint::visualizeRobot	(	const PoseSE2 &	current_pose,
		std::vector< visualization_msgs::Marker > &	markers
	)		const [inline, virtual]

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters:

	current_pose	Current robot pose
[out]	markers	container of marker messages describing the robot shape

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 202 of file robot_footprint_model.h.

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Member Data Documentation

double teb_local_planner::CircularRobotFootprint::radius_ [private]

Definition at line 224 of file robot_footprint_model.h.

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

• robot_footprint_model.h