teb_local_planner::EdgeKinematicsCarlike Class Reference

Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot. More...

#include <edge_kinematics.h>

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeKinematicsCarlike ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
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	~EdgeKinematicsCarlike ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.

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Detailed Description

Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot.

The edge depends on two vertices and minimizes a geometric interpretation of the non-holonomic constraint:

• C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012.

The definition is identically to the one of the differential drive robot. Additionally, this edge incorporates a minimum turning radius that is required by carlike robots. The turning radius is defined by .

The weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000).
The second equation enforces a minimum turning radius. The weight can be set using setInformation(): Matrix element 2,2.
The dimension of the error / cost vector is 3: the first component represents the nonholonomic constraint cost, the second one backward-drive cost and the third one the minimum turning radius

See also:

TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsDiffDrive

Remarks:

Bounding the turning radius from below is not affected by the penalty_epsilon parameter, the user might add an extra margin to the min_turning_radius param.

Do not forget to call setTebConfig()

Definition at line 245 of file edge_kinematics.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeKinematicsCarlike::EdgeKinematicsCarlike

(

)

[inline]

Construct edge.

Definition at line 252 of file edge_kinematics.h.

virtual teb_local_planner::EdgeKinematicsCarlike::~EdgeKinematicsCarlike

(

)

[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 264 of file edge_kinematics.h.

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Member Function Documentation

void teb_local_planner::EdgeKinematicsCarlike::computeError

(

)

[inline]

Actual cost function.

Definition at line 276 of file edge_kinematics.h.

ErrorVector& teb_local_planner::EdgeKinematicsCarlike::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 [nh cost, backward drive dir cost]^T

Definition at line 305 of file edge_kinematics.h.

virtual bool teb_local_planner::EdgeKinematicsCarlike::read

(

std::istream &

is

)

[inline, virtual]

Read values from input stream.

Definition at line 314 of file edge_kinematics.h.

void teb_local_planner::EdgeKinematicsCarlike::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 336 of file edge_kinematics.h.

virtual bool teb_local_planner::EdgeKinematicsCarlike::write

(

std::ostream &

os

)

const [inline, virtual]

Write values to an output stream.

Definition at line 325 of file edge_kinematics.h.

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Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 343 of file edge_kinematics.h.

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

• edge_kinematics.h