Public Member Functions
teb_local_planner::EdgeKinematicsDiffDrive Class Reference

Edge defining the cost function for satisfying the non-holonomic kinematics of a differential drive mobile robot. More...

#include <edge_kinematics.h>

Inheritance diagram for teb_local_planner::EdgeKinematicsDiffDrive:
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List of all members.

Public Member Functions

void computeError ()
 Actual cost function.
 EdgeKinematicsDiffDrive ()
 Construct edge.

Detailed Description

Edge defining the cost function for satisfying the non-holonomic kinematics of a differential drive mobile robot.

The edge depends on two vertices $ \mathbf{s}_i, \mathbf{s}_{ip1} $ and minimizes a geometric interpretation of the non-holonomic constraint:

The weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000).
A second equation is implemented to penalize backward motions (second element of the error /cost vector).
The weight can be set using setInformation(): Matrix element 2,2: (A value ~1 allows backward driving, but penalizes it slighly).
The dimension of the error / cost vector is 2: the first component represents the nonholonomic constraint cost, the second one backward-drive cost.

See also:
TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsCarlike
Remarks:
Do not forget to call setTebConfig()

Definition at line 73 of file edge_kinematics.h.


Constructor & Destructor Documentation

Construct edge.

Definition at line 80 of file edge_kinematics.h.


Member Function Documentation

Actual cost function.

Definition at line 88 of file edge_kinematics.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Sat Jun 8 2019 20:21:34