Public Member Functions | Private Attributes
teb_local_planner::TwoCirclesRobotFootprint Class Reference

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

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::TwoCirclesRobotFootprint:
Inheritance graph
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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.
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_offsetshift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radiusradius of the front circle
rear_offsetshift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radiusradius of the front circle

Definition at line 243 of file robot_footprint_model.h.

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_poseCurrent robot pose
obstaclePointer to the obstacle
Returns:
Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 267 of file robot_footprint_model.h.

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_offsetshift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radiusradius of the front circle
rear_offsetshift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radiusradius 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:
current_poseCurrent robot pose
[out]markerscontainer of marker messages describing the robot shape

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 283 of file robot_footprint_model.h.


Member Data Documentation

Definition at line 332 of file robot_footprint_model.h.

Definition at line 333 of file robot_footprint_model.h.

Definition at line 334 of file robot_footprint_model.h.

Definition at line 335 of file robot_footprint_model.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