Edge defining the cost function for pushing a configuration towards a via point. More...

#include <edge_via_point.h>

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeViaPoint ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
void	setParameters (const TebConfig &cfg, const Eigen::Vector2d *via_point)
	Set all parameters at once.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
void	setViaPoint (const Eigen::Vector2d *via_point)
	Set pointer to associated via point for the underlying cost function.
virtual bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~EdgeViaPoint ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.

Detailed Description

Edge defining the cost function for pushing a configuration towards a via point.

The edge depends on a single vertex $\mathbf{s}_i$ and minimizes:
$\min dist2point \cdot weight$ .
dist2point denotes the distance to the via point.
weight can be set using setInformation().

See also:: TebOptimalPlanner::AddEdgesViaPoints

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

Definition at line 66 of file edge_via_point.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeViaPoint::EdgeViaPoint ( ) [inline]

Construct edge.

Definition at line 73 of file edge_via_point.h.

virtual teb_local_planner::EdgeViaPoint::~EdgeViaPoint ( ) [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 85 of file edge_via_point.h.

Member Function Documentation

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

Actual cost function.

Definition at line 94 of file edge_via_point.h.

ErrorVector& teb_local_planner::EdgeViaPoint::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 111 of file edge_via_point.h.

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

Read values from input stream.

Definition at line 120 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setParameters	(	const TebConfig &	cfg,
		const Eigen::Vector2d *	via_point
	)		`[inline]`

Set all parameters at once.

Parameters:

cfg	TebConfig class
via_point	2D position vector containing the position of the via point

Definition at line 159 of file edge_via_point.h.

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

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 149 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setViaPoint ( const Eigen::Vector2d * via_point ) [inline]

Set pointer to associated via point for the underlying cost function.

Parameters:

via_point 2D position vector containing the position of the via point

Definition at line 139 of file edge_via_point.h.

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

Write values to an output stream.

Definition at line 129 of file edge_via_point.h.

Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 167 of file edge_via_point.h.

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

edge_via_point.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation