Edge defining the cost function for pushing a configuration towards a via point. More...
#include <edge_via_point.h>
Inheritance diagram for teb_local_planner::EdgeViaPoint:
Public Member Functions | |
| void | computeError () |
| Actual cost function. | |
| EdgeViaPoint () | |
| Construct edge. | |
| void | setParameters (const TebConfig &cfg, const Eigen::Vector2d *via_point) |
| Set all parameters at once. | |
| void | setViaPoint (const Eigen::Vector2d *via_point) |
| Set pointer to associated via point for the underlying cost function. | |
Detailed Description
Edge defining the cost function for pushing a configuration towards a via point.
The edge depends on a single vertex 
and minimizes:
.
dist2point denotes the distance to the via point.
weight can be set using setInformation().
- See also:
- TebOptimalPlanner::AddEdgesViaPoints
- Remarks:
- Do not forget to call setTebConfig() and setViaPoint()
Definition at line 66 of file edge_via_point.h.
Constructor & Destructor Documentation
| teb_local_planner::EdgeViaPoint::EdgeViaPoint | ( | ) | [inline] |
Construct edge.
Definition at line 73 of file edge_via_point.h.
Member Function Documentation
| void teb_local_planner::EdgeViaPoint::computeError | ( | ) | [inline] |
Actual cost function.
Definition at line 81 of file edge_via_point.h.
| void teb_local_planner::EdgeViaPoint::setParameters | ( | const TebConfig & | cfg, |
| const Eigen::Vector2d * | via_point | ||
| ) | [inline] |
Set all parameters at once.
- Parameters:
-
cfg TebConfig class via_point 2D position vector containing the position of the via point
Definition at line 105 of file edge_via_point.h.
| void teb_local_planner::EdgeViaPoint::setViaPoint | ( | const Eigen::Vector2d * | via_point | ) | [inline] |
Set pointer to associated via point for the underlying cost function.
- Parameters:
-
via_point 2D position vector containing the position of the via point
Definition at line 95 of file edge_via_point.h.
The documentation for this class was generated from the following file: