teb_local_planner::EdgeAccelerationHolonomicGoal Class Reference

Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. More...

#include <edge_acceleration.h>

Inheritance diagram for teb_local_planner::EdgeAccelerationHolonomicGoal:

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeAccelerationHolonomicGoal ()
	Construct edge.
void	setGoalVelocity (const geometry_msgs::Twist &vel_goal)
	Set the goal / final velocity that is taken into account for calculating the acceleration.

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Detailed Description

Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory.

The edge depends on three vertices , an initial velocity defined by setGoalVelocity() and minimizes:
.
ax is calculated using the difference quotient (twice) and the x-position parts of the poses
ay is calculated using the difference quotient (twice) and the y-position parts of the poses
omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation()
penaltyInterval denotes the penalty function, see penaltyBoundToInterval()
The dimension of the error / cost vector is 3: the first component represents the translational acceleration, the second one is the strafing velocity and the third one the rotational acceleration.

See also:

TebOptimalPlanner::AddEdgesAcceleration

EdgeAccelerationHolonomic

EdgeAccelerationHolonomicStart

Remarks:

Do not forget to call setTebConfig()

Refer to EdgeAccelerationHolonomicStart() for defining boundary (initial) values at the end of the trajectory

Definition at line 657 of file edge_acceleration.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeAccelerationHolonomicGoal::EdgeAccelerationHolonomicGoal

(

)

[inline]

Construct edge.

Definition at line 664 of file edge_acceleration.h.

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Member Function Documentation

void teb_local_planner::EdgeAccelerationHolonomicGoal::computeError

(

)

[inline]

Actual cost function.

Definition at line 673 of file edge_acceleration.h.

void teb_local_planner::EdgeAccelerationHolonomicGoal::setGoalVelocity

(

const geometry_msgs::Twist &

vel_goal

)

[inline]

Set the goal / final velocity that is taken into account for calculating the acceleration.

Parameters:

vel_goal

twist message containing the translational and rotational velocity

Definition at line 719 of file edge_acceleration.h.

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

• edge_acceleration.h