teb_local_planner::PolygonRobotFootprint Class Reference

Class that approximates the robot with a closed polygon. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::PolygonRobotFootprint:

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.
	PolygonRobotFootprint (const Point2dContainer &vertices)
	Default constructor of the abstract obstacle class.
void	setVertices (const Point2dContainer &vertices)
	Set vertices of the contour/footprint.
virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
	Visualize the robot using a markers.
virtual	~PolygonRobotFootprint ()
	Virtual destructor.
Private Attributes
Point2dContainer	vertices_

---

Detailed Description

Class that approximates the robot with a closed polygon.

Definition at line 479 of file robot_footprint_model.h.

---

Constructor & Destructor Documentation

teb_local_planner::PolygonRobotFootprint::PolygonRobotFootprint

(

const Point2dContainer &

vertices

)

[inline]

Default constructor of the abstract obstacle class.

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 489 of file robot_footprint_model.h.

virtual teb_local_planner::PolygonRobotFootprint::~PolygonRobotFootprint

(

)

[inline, virtual]

Virtual destructor.

Definition at line 494 of file robot_footprint_model.h.

---

Member Function Documentation

virtual double teb_local_planner::PolygonRobotFootprint::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 508 of file robot_footprint_model.h.

virtual double teb_local_planner::PolygonRobotFootprint::getInscribedRadius

(

)

[inline, virtual]

Compute the inscribed radius of the footprint model.

Returns:

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 570 of file robot_footprint_model.h.

void teb_local_planner::PolygonRobotFootprint::setVertices

(

const Point2dContainer &

vertices

)

[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 500 of file robot_footprint_model.h.

virtual void teb_local_planner::PolygonRobotFootprint::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 530 of file robot_footprint_model.h.

---

Member Data Documentation

Point2dContainer teb_local_planner::PolygonRobotFootprint::vertices_ [private]

Definition at line 594 of file robot_footprint_model.h.

---

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

• robot_footprint_model.h