Implements a 2D line obstacle. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::LineObstacle:

Public Types
typedef std::vector < Eigen::Vector2d, Eigen::aligned_allocator < Eigen::Vector2d > >	VertexContainer
	Abbrev. for a container storing vertices (2d points defining the edge points of the polygon)
Public Member Functions
virtual bool	checkCollision (const Eigen::Vector2d &point, double min_dist) const
	Check if a given point collides with the obstacle.
virtual bool	checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const
	Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance `min_dist`)
const Eigen::Vector2d &	end () const
virtual const Eigen::Vector2d &	getCentroid () const
	Get centroid coordinates of the obstacle.
virtual std::complex< double >	getCentroidCplx () const
	Get centroid coordinates of the obstacle as complex number.
virtual Eigen::Vector2d	getClosestPoint (const Eigen::Vector2d &position) const
	Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.
virtual double	getMinimumDistance (const Eigen::Vector2d &position) const
	Get the minimum euclidean distance to the obstacle (point as reference)
virtual double	getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const
	Get the minimum euclidean distance to the obstacle (line as reference)
virtual double	getMinimumDistance (const Point2dContainer &polygon) const
	Get the minimum euclidean distance to the obstacle (polygon as reference)
	LineObstacle ()
	Default constructor of the point obstacle class.
	LineObstacle (const Eigen::Ref< const Eigen::Vector2d > &line_start, const Eigen::Ref< const Eigen::Vector2d > &line_end)
	Construct LineObstacle using 2d position vectors as start and end of the line.
	LineObstacle (double x1, double y1, double x2, double y2)
	Construct LineObstacle using start and end coordinates.
void	setEnd (const Eigen::Ref< const Eigen::Vector2d > &end)
void	setStart (const Eigen::Ref< const Eigen::Vector2d > &start)
const Eigen::Vector2d &	start () const
virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)
	Convert the obstacle to a polygon message.
Protected Member Functions
void	calcCentroid ()
Private Attributes
Eigen::Vector2d	centroid_
Eigen::Vector2d	end_
Eigen::Vector2d	start_

Detailed Description

Implements a 2D line obstacle.

Definition at line 337 of file obstacles.h.

Member Typedef Documentation

typedef std::vector<Eigen::Vector2d,Eigen::aligned_allocator<Eigen::Vector2d> > teb_local_planner::LineObstacle::VertexContainer

Abbrev. for a container storing vertices (2d points defining the edge points of the polygon)

Definition at line 341 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::LineObstacle::LineObstacle ( ) [inline]

Default constructor of the point obstacle class.

Definition at line 346 of file obstacles.h.

teb_local_planner::LineObstacle::LineObstacle	(	const Eigen::Ref< const Eigen::Vector2d > &	line_start,
		const Eigen::Ref< const Eigen::Vector2d > &	line_end
	)		`[inline]`

Construct LineObstacle using 2d position vectors as start and end of the line.

Parameters:

line_start	2d position that defines the start of the line obstacle
line_end	2d position that defines the end of the line obstacle

Definition at line 358 of file obstacles.h.

teb_local_planner::LineObstacle::LineObstacle	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[inline]`

Construct LineObstacle using start and end coordinates.

Parameters:

x1	x-coordinate of the start of the line
y1	y-coordinate of the start of the line
x2	x-coordinate of the end of the line
y2	y-coordinate of the end of the line

Definition at line 371 of file obstacles.h.

Member Function Documentation

void teb_local_planner::LineObstacle::calcCentroid ( ) [inline, protected]

Definition at line 449 of file obstacles.h.

virtual bool teb_local_planner::LineObstacle::checkCollision	(	const Eigen::Vector2d &	position,
		double	min_dist
	)		const `[inline, virtual]`

Check if a given point collides with the obstacle.

Parameters:

position	2D reference position that should be checked
min_dist	Minimum distance allowed to the obstacle to be collision free

Returns:: true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 381 of file obstacles.h.

virtual bool teb_local_planner::LineObstacle::checkLineIntersection	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	min_dist = `0`
	)		const `[inline, virtual]`

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters:

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Returns:: true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 387 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::LineObstacle::end ( ) const [inline]

Definition at line 433 of file obstacles.h.

virtual const Eigen::Vector2d& teb_local_planner::LineObstacle::getCentroid ( ) const [inline, virtual]

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 419 of file obstacles.h.

virtual std::complex<double> teb_local_planner::LineObstacle::getCentroidCplx ( ) const [inline, virtual]

Get centroid coordinates of the obstacle as complex number.

Returns:: std::complex containing the centroid coordinate

Implements teb_local_planner::Obstacle.

Definition at line 425 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::LineObstacle::getClosestPoint ( const Eigen::Vector2d & position ) const [inline, virtual]

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters:

position reference 2d position

Returns:: closest point on the obstacle boundary

Implements teb_local_planner::Obstacle.

Definition at line 411 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance ( const Eigen::Vector2d & position ) const [inline, virtual]

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters:

position 2d reference position

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 393 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		const `[inline, virtual]`

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters:

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 399 of file obstacles.h.

virtual double teb_local_planner::LineObstacle::getMinimumDistance ( const Point2dContainer & polygon ) const [inline, virtual]

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters:

polygon Vertices (2D points) describing a closed polygon

Returns:: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 405 of file obstacles.h.

void teb_local_planner::LineObstacle::setEnd ( const Eigen::Ref< const Eigen::Vector2d > & end ) [inline]

Definition at line 434 of file obstacles.h.

void teb_local_planner::LineObstacle::setStart ( const Eigen::Ref< const Eigen::Vector2d > & start ) [inline]

Definition at line 432 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::LineObstacle::start ( ) const [inline]

Definition at line 431 of file obstacles.h.

virtual void teb_local_planner::LineObstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon ) [inline, virtual]

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters:

[out] polygon the polygon message

Implements teb_local_planner::Obstacle.

Definition at line 437 of file obstacles.h.