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:

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

teb_local_planner::EdgeTimeOptimal::EdgeTimeOptimal ( ) [inline]

Construct edge.

Definition at line 80 of file edge_time_optimal.h.

Member Function Documentation

void teb_local_planner::EdgeTimeOptimal::computeError ( ) [inline]

Actual cost function.

Definition at line 88 of file edge_time_optimal.h.

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

edge_time_optimal.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation