Public Types | Public Member Functions | Protected Member Functions | Private Attributes
teb_local_planner::LineObstacle Class Reference

Implements a 2D line obstacle. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::LineObstacle:
Inheritance graph
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List of all members.

Public Types

typedef std::vector
< Eigen::Vector2d,
Eigen::aligned_allocator
< Eigen::Vector2d > > 
VertexContainer
 Abbrev. for a container storing vertices (2d points defining the edge points of the polygon)

Public Member Functions

virtual bool checkCollision (const Eigen::Vector2d &point, double min_dist) const
 Check if a given point collides with the obstacle.
virtual bool checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const
 Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)
const Eigen::Vector2d & end () const
virtual const Eigen::Vector2d & getCentroid () const
 Get centroid coordinates of the obstacle.
virtual std::complex< double > getCentroidCplx () const
 Get centroid coordinates of the obstacle as complex number.
virtual Eigen::Vector2d getClosestPoint (const Eigen::Vector2d &position) const
 Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.
virtual double getMinimumDistance (const Eigen::Vector2d &position) const
 Get the minimum euclidean distance to the obstacle (point as reference)
virtual double getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const
 Get the minimum euclidean distance to the obstacle (line as reference)
virtual double getMinimumDistance (const Point2dContainer &polygon) const
 Get the minimum euclidean distance to the obstacle (polygon as reference)
 LineObstacle ()
 Default constructor of the point obstacle class.
 LineObstacle (const Eigen::Ref< const Eigen::Vector2d > &line_start, const Eigen::Ref< const Eigen::Vector2d > &line_end)
 Construct LineObstacle using 2d position vectors as start and end of the line.
 LineObstacle (double x1, double y1, double x2, double y2)
 Construct LineObstacle using start and end coordinates.
void setEnd (const Eigen::Ref< const Eigen::Vector2d > &end)
void setStart (const Eigen::Ref< const Eigen::Vector2d > &start)
const Eigen::Vector2d & start () const
virtual void toPolygonMsg (geometry_msgs::Polygon &polygon)
 Convert the obstacle to a polygon message.

Protected Member Functions

void calcCentroid ()

Private Attributes

Eigen::Vector2d centroid_
Eigen::Vector2d end_
Eigen::Vector2d start_

Detailed Description

Implements a 2D line obstacle.

Definition at line 337 of file obstacles.h.


Member Typedef Documentation

typedef std::vector<Eigen::Vector2d,Eigen::aligned_allocator<Eigen::Vector2d> > teb_local_planner::LineObstacle::VertexContainer

Abbrev. for a container storing vertices (2d points defining the edge points of the polygon)

Definition at line 341 of file obstacles.h.


Constructor & Destructor Documentation

Default constructor of the point obstacle class.

Definition at line 346 of file obstacles.h.

teb_local_planner::LineObstacle::LineObstacle ( const Eigen::Ref< const Eigen::Vector2d > &  line_start,
const Eigen::Ref< const Eigen::Vector2d > &  line_end 
) [inline]

Construct LineObstacle using 2d position vectors as start and end of the line.

Parameters:
line_start2d position that defines the start of the line obstacle
line_end2d position that defines the end of the line obstacle

Definition at line 358 of file obstacles.h.

teb_local_planner::LineObstacle::LineObstacle ( double  x1,
double  y1,
double  x2,
double  y2 
) [inline]

Construct LineObstacle using start and end coordinates.

Parameters:
x1x-coordinate of the start of the line
y1y-coordinate of the start of the line
x2x-coordinate of the end of the line
y2y-coordinate of the end of the line

Definition at line 371 of file obstacles.h.


Member Function Documentation

void teb_local_planner::LineObstacle::calcCentroid ( ) [inline, protected]

Definition at line 449 of file obstacles.h.

virtual bool teb_local_planner::LineObstacle::checkCollision ( const Eigen::Vector2d &  position,
double  min_dist 
) const [inline, virtual]

Check if a given point collides with the obstacle.

Parameters:
position2D reference position that should be checked
min_distMinimum distance allowed to the obstacle to be collision free
Returns:
true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 381 of file obstacles.h.

virtual bool teb_local_planner::LineObstacle::checkLineIntersection ( const Eigen::Vector2d &  line_start,
const Eigen::Vector2d &  line_end,
double  min_dist = 0 
) const [inline, virtual]

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters:
line_start2D point for the end of the reference line
line_end2D point for the end of the reference line
min_distMinimum distance allowed to the obstacle to be collision/intersection free
Returns:
true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 387 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::LineObstacle::end ( ) const [inline]

Definition at line 433 of file obstacles.h.

virtual const Eigen::Vector2d& teb_local_planner::LineObstacle::getCentroid ( ) const [inline, virtual]

Get centroid coordinates of the obstacle.

Returns:
Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 419 of file obstacles.h.

virtual std::complex<double> teb_local_planner::LineObstacle::getCentroidCplx ( ) const [inline, virtual]

Get centroid coordinates of the obstacle as complex number.

Returns:
std::complex containing the centroid coordinate

Implements teb_local_planner::Obstacle.

Definition at line 425 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::LineObstacle::getClosestPoint ( const Eigen::Vector2d &  position) const [inline, virtual]

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters:
positionreference 2d position
Returns:
closest point on the obstacle boundary

Implements teb_local_planner::Obstacle.

Definition at line 411 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance ( const Eigen::Vector2d &  position) const [inline, virtual]

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters:
position2d reference position
Returns:
The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 393 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance ( const Eigen::Vector2d &  line_start,
const Eigen::Vector2d &  line_end 
) const [inline, virtual]

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters:
line_start2d position of the begin of the reference line
line_end2d position of the end of the reference line
Returns:
The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 399 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance ( const Point2dContainer polygon) const [inline, virtual]

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters:
polygonVertices (2D points) describing a closed polygon
Returns:
The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 405 of file obstacles.h.

void teb_local_planner::LineObstacle::setEnd ( const Eigen::Ref< const Eigen::Vector2d > &  end) [inline]

Definition at line 434 of file obstacles.h.

void teb_local_planner::LineObstacle::setStart ( const Eigen::Ref< const Eigen::Vector2d > &  start) [inline]

Definition at line 432 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::LineObstacle::start ( ) const [inline]

Definition at line 431 of file obstacles.h.

virtual void teb_local_planner::LineObstacle::toPolygonMsg ( geometry_msgs::Polygon &  polygon) [inline, virtual]

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters:
[out]polygonthe polygon message

Implements teb_local_planner::Obstacle.

Definition at line 437 of file obstacles.h.


Member Data Documentation

Eigen::Vector2d teb_local_planner::LineObstacle::centroid_ [private]

Definition at line 455 of file obstacles.h.

Eigen::Vector2d teb_local_planner::LineObstacle::end_ [private]

Definition at line 453 of file obstacles.h.

Eigen::Vector2d teb_local_planner::LineObstacle::start_ [private]

Definition at line 452 of file obstacles.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