Class that approximates the robot with two shifted circles. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::TwoCirclesRobotFootprint:

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.
void	setParameters (double front_offset, double front_radius, double rear_offset, double rear_radius)
	Set parameters of the contour/footprint.
	TwoCirclesRobotFootprint (double front_offset, double front_radius, double rear_offset, double rear_radius)
	Default constructor of the abstract obstacle class.
virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
	Visualize the robot using a markers.
virtual	~TwoCirclesRobotFootprint ()
	Virtual destructor.
Private Attributes
double	front_offset_
double	front_radius_
double	rear_offset_
double	rear_radius_

Detailed Description

Class that approximates the robot with two shifted circles.

Definition at line 232 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::TwoCirclesRobotFootprint::TwoCirclesRobotFootprint	(	double	front_offset,
		double	front_radius,
		double	rear_offset,
		double	rear_radius
	)		`[inline]`

Default constructor of the abstract obstacle class.

Parameters:

front_offset	shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radius	radius of the front circle
rear_offset	shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radius	radius of the front circle

Definition at line 243 of file robot_footprint_model.h.

virtual teb_local_planner::TwoCirclesRobotFootprint::~TwoCirclesRobotFootprint ( ) [inline, virtual]

Virtual destructor.

Definition at line 249 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::TwoCirclesRobotFootprint::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 267 of file robot_footprint_model.h.

virtual double teb_local_planner::TwoCirclesRobotFootprint::getInscribedRadius ( ) [inline, virtual]

Compute the inscribed radius of the footprint model.

Returns:: inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 323 of file robot_footprint_model.h.

void teb_local_planner::TwoCirclesRobotFootprint::setParameters	(	double	front_offset,
		double	front_radius,
		double	rear_offset,
		double	rear_radius
	)		`[inline]`

Set parameters of the contour/footprint.

Parameters:

front_offset	shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radius	radius of the front circle
rear_offset	shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radius	radius of the front circle

Definition at line 258 of file robot_footprint_model.h.

virtual void teb_local_planner::TwoCirclesRobotFootprint::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: