teb_local_planner::EdgeInflatedObstacle Class Reference

Edge defining the cost function for keeping a minimum distance from inflated obstacles. More...

#include <edge_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeInflatedObstacle:

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeInflatedObstacle ()
	Construct edge.
void	setObstacle (const Obstacle *obstacle)
	Set pointer to associated obstacle for the underlying cost function.
void	setParameters (const TebConfig &cfg, const BaseRobotFootprintModel *robot_model, const Obstacle *obstacle)
	Set all parameters at once.
void	setRobotModel (const BaseRobotFootprintModel *robot_model)
	Set pointer to the robot model.
Protected Attributes
const BaseRobotFootprintModel *	robot_model_
	Store pointer to robot_model.

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Detailed Description

Edge defining the cost function for keeping a minimum distance from inflated obstacles.

The edge depends on a single vertex and minimizes:
.
Additional, a second penalty is provided with
. It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. dist2point denotes the minimum distance to the point obstacle.
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also:

TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle

Remarks:

Do not forget to call setTebConfig() and setObstacle()

Definition at line 198 of file edge_obstacle.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeInflatedObstacle::EdgeInflatedObstacle

(

)

[inline]

Construct edge.

Definition at line 205 of file edge_obstacle.h.

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Member Function Documentation

void teb_local_planner::EdgeInflatedObstacle::computeError

(

)

[inline]

Actual cost function.

Definition at line 213 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setObstacle

(

const Obstacle *

obstacle

)

[inline]

Set pointer to associated obstacle for the underlying cost function.

Parameters:

obstacle

2D position vector containing the position of the obstacle

Definition at line 231 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setParameters	(	const TebConfig &	cfg,
		const BaseRobotFootprintModel *	robot_model,
		const Obstacle *	obstacle
	)		[inline]

Set all parameters at once.

Parameters:

cfg	TebConfig class
robot_model	Robot model required for distance calculation
obstacle	2D position vector containing the position of the obstacle

Definition at line 251 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setRobotModel

(

const BaseRobotFootprintModel *

robot_model

)

[inline]

Set pointer to the robot model.

Parameters:

robot_model

Robot model required for distance calculation

Definition at line 240 of file edge_obstacle.h.

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Member Data Documentation

const BaseRobotFootprintModel* teb_local_planner::EdgeInflatedObstacle::robot_model_ [protected]

Store pointer to robot_model.

Definition at line 260 of file edge_obstacle.h.

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

• edge_obstacle.h