Public Member Functions | List of all members
teb_local_planner::EdgeVelocity Class Reference

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

#include <edge_velocity.h>

Inheritance diagram for teb_local_planner::EdgeVelocity:
Inheritance graph
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Public Member Functions

void computeError ()
 Actual cost function. More...
 
 EdgeVelocity ()
 Construct edge. More...
 
- Public Member Functions inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
 BaseTebMultiEdge ()
 Construct edge. More...
 
ErrorVector & getError ()
 Compute and return error / cost value. More...
 
virtual bool read (std::istream &is)
 Read values from input stream. More...
 
virtual void resize (size_t size)
 
void setTebConfig (const TebConfig &cfg)
 Assign the TebConfig class for parameters. More...
 
virtual bool write (std::ostream &os) const
 Write values to an output stream. More...
 
virtual ~BaseTebMultiEdge ()
 Destruct edge. More...
 

Additional Inherited Members

- Protected Attributes inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
const TebConfigcfg_
 Store TebConfig class for parameters. More...
 

Detailed Description

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

The edge depends on three vertices $ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i $ and minimizes:
$ \min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight $.
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.

Constructor & Destructor Documentation

teb_local_planner::EdgeVelocity::EdgeVelocity ( )
inline

Construct edge.

Definition at line 82 of file edge_velocity.h.

Member Function Documentation

void teb_local_planner::EdgeVelocity::computeError ( )
inline

Actual cost function.

Definition at line 90 of file edge_velocity.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 3 2020 04:03:08