Public Member Functions | Protected Attributes
teb_local_planner::EdgeVelocity Class Reference

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

#include <edge_velocity.h>

List of all members.

Public Member Functions

void computeError ()
 Actual cost function.
 EdgeVelocity ()
 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 ~EdgeVelocity ()
 Destruct edge.

Protected Attributes

const TebConfigcfg_
 Store TebConfig class for parameters.

Detailed Description

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

The edge depends on three vertices $ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i $ and minimizes:
$ \min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight $.
v is calculated using the difference quotient and the position parts of both poses.
omega is calculated using the difference quotient of both 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 velocity and the second one the rotational velocity.

See also:
TebOptimalPlanner::AddEdgesVelocity
Remarks:
Do not forget to call setTebConfig()

Definition at line 75 of file edge_velocity.h.


Constructor & Destructor Documentation

Construct edge.

Definition at line 82 of file edge_velocity.h.

virtual teb_local_planner::EdgeVelocity::~EdgeVelocity ( ) [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 94 of file edge_velocity.h.


Member Function Documentation

Actual cost function.

Definition at line 106 of file edge_velocity.h.

ErrorVector& teb_local_planner::EdgeVelocity::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 vel cost, angular vel cost]^T

Definition at line 205 of file edge_velocity.h.

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

Read values from input stream.

Definition at line 214 of file edge_velocity.h.

Assign the TebConfig class for parameters.

Parameters:
cfgTebConfig class

Definition at line 235 of file edge_velocity.h.

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

Write values to an output stream.

Definition at line 224 of file edge_velocity.h.


Member Data Documentation

Store TebConfig class for parameters.

Definition at line 242 of file edge_velocity.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Mon Oct 24 2016 05:31:15