teb_local_planner::CircularRobotFootprint Class Reference

Class that defines the a robot of circular shape. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::CircularRobotFootprint:

Public Member Functions
virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
	Calculate the distance between the robot and an obstacle. More...
	CircularRobotFootprint (double radius)
	Default constructor of the abstract obstacle class. More...
virtual double	estimateSpatioTemporalDistance (const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const
	Estimate the distance between the robot and the predicted location of an obstacle at time t. More...
virtual double	getInscribedRadius ()
	Compute the inscribed radius of the footprint model. More...
void	setRadius (double radius)
	Set radius of the circular robot. More...
virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers, const std_msgs::ColorRGBA &color) const
	Visualize the robot using a markers. More...
virtual	~CircularRobotFootprint ()
	Virtual destructor. More...
Public Member Functions inherited from teb_local_planner::BaseRobotFootprintModel
	BaseRobotFootprintModel ()
	Default constructor of the abstract obstacle class. More...
virtual	~BaseRobotFootprintModel ()
	Virtual destructor. More...

Private Attributes
double	radius_

Detailed Description

Class that defines the a robot of circular shape.

Definition at line 184 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::CircularRobotFootprint::CircularRobotFootprint ( double  radius )

inline

Default constructor of the abstract obstacle class.

Parameters

radius

radius of the robot

Definition at line 192 of file robot_footprint_model.h.

virtual teb_local_planner::CircularRobotFootprint::~CircularRobotFootprint ( )

inlinevirtual

Virtual destructor.

Definition at line 197 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::CircularRobotFootprint::calculateDistance ( const PoseSE2 &  current_pose, const Obstacle *  obstacle  ) const

inlinevirtual

Calculate the distance between the robot and an obstacle.

Parameters

current_pose	Current robot pose
obstacle	Pointer to the obstacle

Returns

Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 211 of file robot_footprint_model.h.

virtual double teb_local_planner::CircularRobotFootprint::estimateSpatioTemporalDistance ( const PoseSE2 &  current_pose, const Obstacle *  obstacle, double  t  ) const

inlinevirtual

Estimate the distance between the robot and the predicted location of an obstacle at time t.

Parameters

current_pose	robot pose, from which the distance to the obstacle is estimated
obstacle	Pointer to the dynamic obstacle (constant velocity model is assumed)
t	time, for which the predicted distance to the obstacle is calculated

Returns

Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 223 of file robot_footprint_model.h.

virtual double teb_local_planner::CircularRobotFootprint::getInscribedRadius ( )

inlinevirtual

Compute the inscribed radius of the footprint model.

Returns

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 252 of file robot_footprint_model.h.

void teb_local_planner::CircularRobotFootprint::setRadius ( double  radius )

inline

Set radius of the circular robot.

Parameters

radius

radius of the robot

Definition at line 203 of file robot_footprint_model.h.

virtual void teb_local_planner::CircularRobotFootprint::visualizeRobot ( const PoseSE2 &  current_pose, std::vector< visualization_msgs::Marker > &  markers, const std_msgs::ColorRGBA &  color  ) const

inlinevirtual

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters

	current_pose	Current robot pose
[out]	markers	container of marker messages describing the robot shape
	color	Color of the footprint

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 237 of file robot_footprint_model.h.

Member Data Documentation

double teb_local_planner::CircularRobotFootprint::radius_

private

Definition at line 256 of file robot_footprint_model.h.

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

• robot_footprint_model.h