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

#include <edge_obstacle.h>

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeObstacle ()
	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	~EdgeObstacle ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.
const BaseRobotFootprintModel *	robot_model_
	Store pointer to robot_model.

Detailed Description

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

The edge depends on a single vertex $\mathbf{s}_i$ and minimizes:
$\min \textrm{penaltyBelow}( dist2point ) \cdot weight$ .
dist2point denotes the minimum distance to the point obstacle.
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also:: TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle

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

Definition at line 70 of file edge_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeObstacle::EdgeObstacle ( ) [inline]

Construct edge.

Definition at line 77 of file edge_obstacle.h.

virtual teb_local_planner::EdgeObstacle::~EdgeObstacle ( ) [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 89 of file edge_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeObstacle::computeError ( ) [inline]

Actual cost function.

Definition at line 98 of file edge_obstacle.h.

ErrorVector& teb_local_planner::EdgeObstacle::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 161 of file edge_obstacle.h.

virtual bool teb_local_planner::EdgeObstacle::read ( std::istream & is ) [inline, virtual]

Read values from input stream.

Definition at line 170 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::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 189 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::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 218 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::setRobotModel ( const BaseRobotFootprintModel * robot_model ) [inline]

Set pointer to the robot model.

Parameters:

robot_model Robot model required for distance calculation

Definition at line 198 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::setTebConfig ( const TebConfig & cfg ) [inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 207 of file edge_obstacle.h.

virtual bool teb_local_planner::EdgeObstacle::write ( std::ostream & os ) const [inline, virtual]

Write values to an output stream.

Definition at line 179 of file edge_obstacle.h.

Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 227 of file edge_obstacle.h.

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

Store pointer to robot_model.

Definition at line 228 of file edge_obstacle.h.

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

edge_obstacle.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation