teb_local_planner::EdgeInflatedObstacle Class Reference

Edge defining the cost function for keeping a minimum distance from inflated obstacles. More...

#include <edge_obstacle.h>

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeInflatedObstacle ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
void	setObstacle (const Obstacle *obstacle)
	Set pointer to associated obstacle for the underlying cost function.
void	setParameters (const TebConfig &cfg, const BaseRobotFootprintModel *robot_model, const Obstacle *obstacle)
	Set all parameters at once.
void	setRobotModel (const BaseRobotFootprintModel *robot_model)
	Set pointer to the robot model.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
virtual bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~EdgeInflatedObstacle ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.
const BaseRobotFootprintModel *	robot_model_
	Store pointer to robot_model.

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Detailed Description

Edge defining the cost function for keeping a minimum distance from inflated obstacles.

The edge depends on a single vertex and minimizes:
.
Additional, a second penalty is provided with
. It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. dist2point denotes the minimum distance to the point obstacle.
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also:

TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle

Remarks:

Do not forget to call setTebConfig() and setObstacle()

Definition at line 251 of file edge_obstacle.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeInflatedObstacle::EdgeInflatedObstacle

(

)

[inline]

Construct edge.

Definition at line 258 of file edge_obstacle.h.

virtual teb_local_planner::EdgeInflatedObstacle::~EdgeInflatedObstacle

(

)

[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 270 of file edge_obstacle.h.

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Member Function Documentation

void teb_local_planner::EdgeInflatedObstacle::computeError

(

)

[inline]

Actual cost function.

Definition at line 279 of file edge_obstacle.h.

ErrorVector& teb_local_planner::EdgeInflatedObstacle::getError

(

)

[inline]

Compute and return error / cost value.

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

Returns:

1D Cost / error vector

Definition at line 299 of file edge_obstacle.h.

virtual bool teb_local_planner::EdgeInflatedObstacle::read

(

std::istream &

is

)

[inline, virtual]

Read values from input stream.

Definition at line 308 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setObstacle

(

const Obstacle *

obstacle

)

[inline]

Set pointer to associated obstacle for the underlying cost function.

Parameters:

obstacle

2D position vector containing the position of the obstacle

Definition at line 327 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setParameters	(	const TebConfig &	cfg,
		const BaseRobotFootprintModel *	robot_model,
		const Obstacle *	obstacle
	)		[inline]

Set all parameters at once.

Parameters:

cfg	TebConfig class
robot_model	Robot model required for distance calculation
obstacle	2D position vector containing the position of the obstacle

Definition at line 356 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setRobotModel

(

const BaseRobotFootprintModel *

robot_model

)

[inline]

Set pointer to the robot model.

Parameters:

robot_model

Robot model required for distance calculation

Definition at line 336 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 345 of file edge_obstacle.h.

virtual bool teb_local_planner::EdgeInflatedObstacle::write

(

std::ostream &

os

)

const [inline, virtual]

Write values to an output stream.

Definition at line 317 of file edge_obstacle.h.

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Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 365 of file edge_obstacle.h.

const BaseRobotFootprintModel* teb_local_planner::EdgeInflatedObstacle::robot_model_ [protected]

Store pointer to robot_model.

Definition at line 366 of file edge_obstacle.h.

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

• edge_obstacle.h