homotopy_class_planner.hpp

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#include <teb_local_planner/homotopy_class_planner.h>

namespace teb_local_planner
{
  
  
template<typename BidirIter, typename Fun>
EquivalenceClassPtr HomotopyClassPlanner::calculateEquivalenceClass(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles)
{
   // Currently we only support the HSignature
   HSignature* H = new HSignature(*cfg_);
   H->calculateHSignature(path_start, path_end, fun_cplx_point, obstacles);
   return EquivalenceClassPtr(H);
}


template<typename BidirIter, typename Fun>
TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, const geometry_msgs::Twist* start_velocity)
{
  tebs_.push_back( TebOptimalPlannerPtr( new TebOptimalPlanner(*cfg_, obstacles_, robot_model_) ) );
  tebs_.back()->teb().initTEBtoGoal(path_start, path_end, fun_position, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, 
                                    cfg_->robot.acc_lim_x, cfg_->robot.acc_lim_theta, start_orientation, goal_orientation, cfg_->trajectory.min_samples,
                                    cfg_->trajectory.allow_init_with_backwards_motion);
  if (start_velocity)
    tebs_.back()->setVelocityStart(*start_velocity);
  
  return tebs_.back();
}
  
} // namespace teb_local_planner