Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta. More...

#include <edge_velocity.h>

Inheritance diagram for teb_local_planner::EdgeVelocityHolonomic:

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List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeVelocityHolonomic ()
	Construct edge.

Detailed Description

Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta.

The edge depends on three vertices $\mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i$ and minimizes:
$\min \textrm{penaltyInterval}( [vx,vy,omega]^T ) \cdot weight$ .
vx denotes the translational velocity w.r.t. x-axis (computed using finite differneces).
vy denotes the translational velocity w.r.t. y-axis (computed using finite differneces).
omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation().
penaltyInterval denotes the penalty function, see penaltyBoundToInterval().
The dimension of the error / cost vector is 3: the first component represents the translational velocity w.r.t. x-axis, the second one w.r.t. the y-axis and the third one the rotational velocity.

See also:: TebOptimalPlanner::AddEdgesVelocity

Remarks:: Do not forget to call setTebConfig()

Definition at line 221 of file edge_velocity.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeVelocityHolonomic::EdgeVelocityHolonomic ( ) [inline]

Construct edge.

Definition at line 228 of file edge_velocity.h.

Member Function Documentation

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

Actual cost function.

Definition at line 236 of file edge_velocity.h.

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

edge_velocity.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation