Public Member Functions
teb_local_planner::EdgeTimeOptimal Class Reference

Edge defining the cost function for minimizing transition time of the trajectory. More...

#include <edge_time_optimal.h>

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

Public Member Functions

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

Detailed Description

Edge defining the cost function for minimizing transition time of the trajectory.

The edge depends on a single vertex $ \Delta T_i $ and minimizes:
$ \min \Delta T_i^2 \cdot scale \cdot weight $.
scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it.
weight can be set using setInformation() (something around 1.0 seems to be fine).

See also:
TebOptimalPlanner::AddEdgesTimeOptimal
Remarks:
Do not forget to call setTebConfig()

Definition at line 73 of file edge_time_optimal.h.


Constructor & Destructor Documentation

Construct edge.

Definition at line 80 of file edge_time_optimal.h.


Member Function Documentation

Actual cost function.

Definition at line 88 of file edge_time_optimal.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