teb_local_planner::EdgeAcceleration Class Reference

Edge defining the cost function for limiting the translational and rotational acceleration. More...

#include <edge_acceleration.h>

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeAcceleration ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
bool	read (std::istream &is)
	Read values from input stream.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~EdgeAcceleration ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.

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Detailed Description

Edge defining the cost function for limiting the translational and rotational acceleration.

The edge depends on five vertices and minimizes: .
a is calculated using the difference quotient (twice) and the position parts of all three poses
omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation()
penaltyInterval denotes the penalty function, see penaltyBoundToInterval()
The dimension of the error / cost vector is 2: the first component represents the translational acceleration and the second one the rotational acceleration.

See also:

TebOptimalPlanner::AddEdgesAcceleration

EdgeAccelerationStart

EdgeAccelerationGoal

Remarks:

Do not forget to call setTebConfig()

Refer to EdgeAccelerationStart() and EdgeAccelerationGoal() for defining boundary values!

Definition at line 76 of file edge_acceleration.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeAcceleration::EdgeAcceleration

(

)

[inline]

Construct edge.

Definition at line 83 of file edge_acceleration.h.

virtual teb_local_planner::EdgeAcceleration::~EdgeAcceleration

(

)

[inline, virtual]

Destruct edge.

We need to erase vertices manually, since we want to keep them even if TebOptimalPlanner::clearGraph() is called. This is necessary since the vertices are managed by the Timed_Elastic_Band class.

Definition at line 95 of file edge_acceleration.h.

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Member Function Documentation

void teb_local_planner::EdgeAcceleration::computeError

(

)

[inline]

Actual cost function.

Definition at line 107 of file edge_acceleration.h.

ErrorVector& teb_local_planner::EdgeAcceleration::getError

(

)

[inline]

Compute and return error / cost value.

This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.

Returns:

2D Cost / error vector [translational acc cost, angular acc cost]^T

Definition at line 264 of file edge_acceleration.h.

bool teb_local_planner::EdgeAcceleration::read

(

std::istream &

is

)

[inline]

Read values from input stream.

Definition at line 273 of file edge_acceleration.h.

void teb_local_planner::EdgeAcceleration::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 294 of file edge_acceleration.h.

bool teb_local_planner::EdgeAcceleration::write

(

std::ostream &

os

)

const [inline]

Write values to an output stream.

Definition at line 283 of file edge_acceleration.h.

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Member Data Documentation

const TebConfig* teb_local_planner::EdgeAcceleration::cfg_ [protected]

Store TebConfig class for parameters.

Definition at line 301 of file edge_acceleration.h.

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

• edge_acceleration.h