teb_local_planner::EdgeDynamicObstacle Class Reference

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. More...

#include <edge_dynamic_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeDynamicObstacle:

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeDynamicObstacle ()
	Construct edge.
	EdgeDynamicObstacle (size_t vert_idx)
	Construct edge and specify the vertex id (neccessary for computeError).
void	setObstacle (const Obstacle *obstacle)
	Set Obstacle for the underlying cost function.
void	setVertexIdx (size_t vert_idx)
	Set the vertex index (position in the pose sequence)
Protected Attributes
size_t	vert_idx_
	Store vertex index (position in the pose sequence)

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Detailed Description

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles.

The edge depends on two vertices and minimizes:
.
dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal).
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow().

See also:

TebOptimalPlanner::AddEdgesDynamicObstacles

Remarks:

Do not forget to call setTebConfig(), setVertexIdx() and

Warning:

Experimental

Definition at line 70 of file edge_dynamic_obstacle.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle

(

)

[inline]

Construct edge.

Definition at line 77 of file edge_dynamic_obstacle.h.

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle

(

size_t

vert_idx

)

[inline]

Construct edge and specify the vertex id (neccessary for computeError).

Parameters:

vert_idx

Index of the vertex (position in the pose sequence)

Definition at line 85 of file edge_dynamic_obstacle.h.

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Member Function Documentation

void teb_local_planner::EdgeDynamicObstacle::computeError

(

)

[inline]

Actual cost function.

Definition at line 92 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setObstacle

(

const Obstacle *

obstacle

)

[inline]

Set Obstacle for the underlying cost function.

Parameters:

obstacle

Const pointer to an Obstacle or derived Obstacle

Definition at line 133 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setVertexIdx

(

size_t

vert_idx

)

[inline]

Set the vertex index (position in the pose sequence)

Parameters:

vert_idx

Index of the vertex

Definition at line 124 of file edge_dynamic_obstacle.h.

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Member Data Documentation

size_t teb_local_planner::EdgeDynamicObstacle::vert_idx_ [protected]

Store vertex index (position in the pose sequence)

Definition at line 141 of file edge_dynamic_obstacle.h.

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

• edge_dynamic_obstacle.h