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 TebConfig *	cfg_
	Store TebConfig class for parameters.

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Detailed Description

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

The edge depends on three vertices and minimizes:
.
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.

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Constructor & Destructor Documentation

teb_local_planner::EdgeVelocity::EdgeVelocity

(

)

[inline]

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.

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Member Function Documentation

void teb_local_planner::EdgeVelocity::computeError

(

)

[inline]

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.

void teb_local_planner::EdgeVelocity::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig 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.

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Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 242 of file edge_velocity.h.

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

• edge_velocity.h