teb_local_planner::LineRobotFootprint Class Reference

Class that approximates the robot with line segment (zero-width) More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::LineRobotFootprint:

List of all members.

Public Member Functions
virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
	Calculate the distance between the robot and an obstacle.
virtual double	getInscribedRadius ()
	Compute the inscribed radius of the footprint model.
	LineRobotFootprint (const geometry_msgs::Point &line_start, const geometry_msgs::Point &line_end)
	Default constructor of the abstract obstacle class.
	LineRobotFootprint (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end)
	Default constructor of the abstract obstacle class (Eigen Version)
void	setLine (const geometry_msgs::Point &line_start, const geometry_msgs::Point &line_end)
	Set vertices of the contour/footprint.
void	setLine (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end)
	Set vertices of the contour/footprint (Eigen version)
virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
	Visualize the robot using a markers.
virtual	~LineRobotFootprint ()
	Virtual destructor.
Private Attributes
Eigen::Vector2d	line_end_
Eigen::Vector2d	line_start_

---

Detailed Description

Class that approximates the robot with line segment (zero-width)

Definition at line 345 of file robot_footprint_model.h.

---

Constructor & Destructor Documentation

teb_local_planner::LineRobotFootprint::LineRobotFootprint	(	const geometry_msgs::Point &	line_start,
		const geometry_msgs::Point &	line_end
	)		[inline]

Default constructor of the abstract obstacle class.

Parameters:

line_start	start coordinates (only x and y) of the line (w.r.t. robot center at (0,0))
line_end	end coordinates (only x and y) of the line (w.r.t. robot center at (0,0))

Definition at line 354 of file robot_footprint_model.h.

teb_local_planner::LineRobotFootprint::LineRobotFootprint	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		[inline]

Default constructor of the abstract obstacle class (Eigen Version)

Parameters:

line_start	start coordinates (only x and y) of the line (w.r.t. robot center at (0,0))
line_end	end coordinates (only x and y) of the line (w.r.t. robot center at (0,0))

Definition at line 364 of file robot_footprint_model.h.

virtual teb_local_planner::LineRobotFootprint::~LineRobotFootprint

(

)

[inline, virtual]

Virtual destructor.

Definition at line 372 of file robot_footprint_model.h.

---

Member Function Documentation

virtual double teb_local_planner::LineRobotFootprint::calculateDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle
	)		const [inline, virtual]

Calculate the distance between the robot and an obstacle.

Parameters:

current_pose	Current robot pose
obstacle	Pointer to the obstacle

Returns:

Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 402 of file robot_footprint_model.h.

virtual double teb_local_planner::LineRobotFootprint::getInscribedRadius

(

)

[inline, virtual]

Compute the inscribed radius of the footprint model.

Returns:

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 458 of file robot_footprint_model.h.

void teb_local_planner::LineRobotFootprint::setLine	(	const geometry_msgs::Point &	line_start,
		const geometry_msgs::Point &	line_end
	)		[inline]

Set vertices of the contour/footprint.

Parameters:

vertices

footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 378 of file robot_footprint_model.h.

void teb_local_planner::LineRobotFootprint::setLine	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		[inline]

Set vertices of the contour/footprint (Eigen version)

Parameters:

vertices

footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 390 of file robot_footprint_model.h.

virtual void teb_local_planner::LineRobotFootprint::visualizeRobot	(	const PoseSE2 &	current_pose,
		std::vector< visualization_msgs::Marker > &	markers
	)		const [inline, virtual]

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters:

	current_pose	Current robot pose
[out]	markers	container of marker messages describing the robot shape

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 424 of file robot_footprint_model.h.

---

Member Data Documentation

Eigen::Vector2d teb_local_planner::LineRobotFootprint::line_end_ [private]

Definition at line 466 of file robot_footprint_model.h.

Eigen::Vector2d teb_local_planner::LineRobotFootprint::line_start_ [private]

Definition at line 465 of file robot_footprint_model.h.

---

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

• robot_footprint_model.h