Implements a polygon obstacle with an arbitrary number of vertices. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::PolygonObstacle:

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`)
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)
	PolygonObstacle ()
	Default constructor of the polygon obstacle class.
	PolygonObstacle (const Point2dContainer &vertices)
	Construct polygon obstacle with a list of vertices.
virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)
	Convert the obstacle to a polygon message.
Define the polygon
const Point2dContainer &	vertices () const
Point2dContainer &	vertices ()
	Access vertices container.
void	pushBackVertex (const Eigen::Ref< const Eigen::Vector2d > &vertex)
	Add a vertex to the polygon (edge-point)
void	pushBackVertex (double x, double y)
	Add a vertex to the polygon (edge-point)
void	finalizePolygon ()
	Call finalizePolygon after the polygon is created with the help of pushBackVertex() methods.
void	clearVertices ()
	Clear all vertices (Afterwards the polygon is not valid anymore)
int	noVertices () const
	Get the number of vertices defining the polygon (the first vertex is counted once)
Protected Member Functions
void	calcCentroid ()
	Compute the centroid of the polygon (called inside finalizePolygon())
void	fixPolygonClosure ()
	Check if the current polygon contains the first vertex twice (as start and end) and in that case erase the last redundant one.
Protected Attributes
Eigen::Vector2d	centroid_
	Store the centroid coordinates of the polygon (.
bool	finalized_
	Flat that keeps track if the polygon was finalized after adding all vertices.
Point2dContainer	vertices_
	Store vertices defining the polygon (.

Detailed Description

Implements a polygon obstacle with an arbitrary number of vertices.

If the polygon has only 2 vertices, than it is considered as a line, otherwise the polygon will always be closed (a connection between the first and the last vertex is included automatically).

Definition at line 469 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::PolygonObstacle::PolygonObstacle ( ) [inline]

Default constructor of the polygon obstacle class.

Definition at line 476 of file obstacles.h.

teb_local_planner::PolygonObstacle::PolygonObstacle ( const Point2dContainer & vertices ) [inline]

Construct polygon obstacle with a list of vertices.

Definition at line 484 of file obstacles.h.

Member Function Documentation

void teb_local_planner::PolygonObstacle::calcCentroid ( ) [protected]

Compute the centroid of the polygon (called inside finalizePolygon())

Definition at line 57 of file obstacles.cpp.

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

Check if a given point collides with the obstacle.

Parameters:

position	2D reference position that should be checked
min_dist	Minimum 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 502 of file obstacles.h.

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

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

Parameters:

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Remarks:: we ignore min_dist here

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 178 of file obstacles.cpp.

void teb_local_planner::PolygonObstacle::clearVertices ( ) [inline]

Clear all vertices (Afterwards the polygon is not valid anymore)

Definition at line 622 of file obstacles.h.

void teb_local_planner::PolygonObstacle::finalizePolygon ( ) [inline]

Call finalizePolygon after the polygon is created with the help of pushBackVertex() methods.

Definition at line 612 of file obstacles.h.

void teb_local_planner::PolygonObstacle::fixPolygonClosure ( ) [protected]

Check if the current polygon contains the first vertex twice (as start and end) and in that case erase the last redundant one.

Definition at line 48 of file obstacles.cpp.

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

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 560 of file obstacles.h.

virtual std::complex<double> teb_local_planner::PolygonObstacle::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 567 of file obstacles.h.

Eigen::Vector2d teb_local_planner::PolygonObstacle::getClosestPoint ( const Eigen::Vector2d & position ) const [virtual]

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

Parameters:

position reference 2d position

Returns:: closest point on the obstacle boundary

Implements teb_local_planner::Obstacle.

Definition at line 130 of file obstacles.cpp.

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

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

Parameters:

position 2d reference position

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 539 of file obstacles.h.

virtual double teb_local_planner::PolygonObstacle::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_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 545 of file obstacles.h.

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

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

Parameters:

polygon Vertices (2D points) describing a closed polygon

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 551 of file obstacles.h.

int teb_local_planner::PolygonObstacle::noVertices ( ) const [inline]

Get the number of vertices defining the polygon (the first vertex is counted once)

Definition at line 627 of file obstacles.h.

void teb_local_planner::PolygonObstacle::pushBackVertex ( const Eigen::Ref< const Eigen::Vector2d > & vertex ) [inline]

Add a vertex to the polygon (edge-point)

Remarks:: You do not need to close the polygon (do not repeat the first vertex)

Warning:: Do not forget to call finalizePolygon() after adding all vertices

Parameters:

vertex 2D point defining a new polygon edge

Definition at line 590 of file obstacles.h.

void teb_local_planner::PolygonObstacle::pushBackVertex	(	double	x,
		double	y
	)		`[inline]`

Add a vertex to the polygon (edge-point)

Remarks:: You do not need to close the polygon (do not repeat the first vertex)

Warning:: Do not forget to call finalizePolygon() after adding all vertices

Parameters:

x	x-coordinate of the new vertex
y	y-coordinate of the new vertex

Definition at line 603 of file obstacles.h.

void teb_local_planner::PolygonObstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon ) [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] polygon the polygon message

Implements teb_local_planner::Obstacle.

Definition at line 196 of file obstacles.cpp.

const Point2dContainer& teb_local_planner::PolygonObstacle::vertices ( ) const [inline]

Access vertices container (read-only)

Definition at line 581 of file obstacles.h.

Point2dContainer& teb_local_planner::PolygonObstacle::vertices ( ) [inline]

Access vertices container.

Definition at line 582 of file obstacles.h.

Member Data Documentation

Eigen::Vector2d teb_local_planner::PolygonObstacle::centroid_ [protected]

Store the centroid coordinates of the polygon (.

See also:: calcCentroid)

Definition at line 640 of file obstacles.h.

bool teb_local_planner::PolygonObstacle::finalized_ [protected]

Flat that keeps track if the polygon was finalized after adding all vertices.

Definition at line 642 of file obstacles.h.

Point2dContainer teb_local_planner::PolygonObstacle::vertices_ [protected]

Store vertices defining the polygon (.

See also:: pushBackVertex)

Definition at line 639 of file obstacles.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation