Implements a 2D point obstacle. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::PointObstacle:

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`)
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)
	PointObstacle ()
	Default constructor of the point obstacle class.
	PointObstacle (const Eigen::Ref< const Eigen::Vector2d > &position)
	Construct PointObstacle using a 2d position vector.
	PointObstacle (double x, double y)
	Construct PointObstacle using x- and y-coordinates.
const Eigen::Vector2d &	position () const
	Return the current position of the obstacle (read-only)
Eigen::Vector2d &	position ()
	Return the current position of the obstacle.
virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)
	Convert the obstacle to a polygon message.
double &	x ()
	Return the current x-coordinate of the obstacle.
const double &	x () const
	Return the current y-coordinate of the obstacle (read-only)
double &	y ()
	Return the current x-coordinate of the obstacle.
const double &	y () const
	Return the current y-coordinate of the obstacle (read-only)
Protected Attributes
Eigen::Vector2d	pos_
	Store the position of the PointObstacle.

Detailed Description

Implements a 2D point obstacle.

Definition at line 215 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::PointObstacle::PointObstacle ( ) [inline]

Default constructor of the point obstacle class.

Definition at line 222 of file obstacles.h.

teb_local_planner::PointObstacle::PointObstacle ( const Eigen::Ref< const Eigen::Vector2d > & position ) [inline]

Construct PointObstacle using a 2d position vector.

Parameters:

position 2d position that defines the current obstacle position

Definition at line 229 of file obstacles.h.

teb_local_planner::PointObstacle::PointObstacle	(	double	x,
		double	y
	)		`[inline]`

Construct PointObstacle using x- and y-coordinates.

Parameters:

x	x-coordinate
y	y-coordinate

Definition at line 237 of file obstacles.h.

Member Function Documentation

virtual bool teb_local_planner::PointObstacle::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 242 of file obstacles.h.

virtual bool teb_local_planner::PointObstacle::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 249 of file obstacles.h.

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

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 292 of file obstacles.h.

virtual std::complex<double> teb_local_planner::PointObstacle::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 299 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::PointObstacle::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 286 of file obstacles.h.

virtual double teb_local_planner::PointObstacle::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 268 of file obstacles.h.

virtual double teb_local_planner::PointObstacle::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 274 of file obstacles.h.

virtual double teb_local_planner::PointObstacle::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 280 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::PointObstacle::position ( ) const [inline]

Return the current position of the obstacle (read-only)

Definition at line 305 of file obstacles.h.

Eigen::Vector2d& teb_local_planner::PointObstacle::position ( ) [inline]

Return the current position of the obstacle.

Definition at line 306 of file obstacles.h.

virtual void teb_local_planner::PointObstacle::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 313 of file obstacles.h.

double& teb_local_planner::PointObstacle::x ( ) [inline]

Return the current x-coordinate of the obstacle.

Definition at line 307 of file obstacles.h.

const double& teb_local_planner::PointObstacle::x ( ) const [inline]

Return the current y-coordinate of the obstacle (read-only)

Definition at line 308 of file obstacles.h.

double& teb_local_planner::PointObstacle::y ( ) [inline]

Return the current x-coordinate of the obstacle.

Definition at line 309 of file obstacles.h.

const double& teb_local_planner::PointObstacle::y ( ) const [inline]

Return the current y-coordinate of the obstacle (read-only)

Definition at line 310 of file obstacles.h.

Member Data Documentation

Eigen::Vector2d teb_local_planner::PointObstacle::pos_ [protected]

Store the position of the PointObstacle.

Definition at line 323 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation