teb_local_planner::GraphSearchInterface Class Reference

Base class for graph based path planning / homotopy class sampling. More...

#include <graph_search.h>

Inheritance diagram for teb_local_planner::GraphSearchInterface:

Public Member Functions
void	clearGraph ()
	Clear any existing graph of the homotopy class search. More...
virtual void	createGraph (const PoseSE2 &start, const PoseSE2 &goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist *start_velocity)=0

Public Attributes
HcGraph	graph_
	Store the graph that is utilized to find alternative homotopy classes. More...

Protected Member Functions
void	DepthFirst (HcGraph &g, std::vector< HcGraphVertexType > &visited, const HcGraphVertexType &goal, double start_orientation, double goal_orientation, const geometry_msgs::Twist *start_velocity)
	Depth First Search implementation to find all paths between the start and the specified goal vertex. More...
	GraphSearchInterface (const TebConfig &cfg, HomotopyClassPlanner *hcp)
	Protected constructor that should be called by subclasses. More...

Protected Attributes
const TebConfig *	cfg_
	Config class that stores and manages all related parameters. More...
HomotopyClassPlanner *const	hcp_
	Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. More...

Detailed Description

Base class for graph based path planning / homotopy class sampling.

Definition at line 107 of file graph_search.h.

Constructor & Destructor Documentation

teb_local_planner::GraphSearchInterface::GraphSearchInterface ( const TebConfig &  cfg, HomotopyClassPlanner *  hcp  )

inlineprotected

Protected constructor that should be called by subclasses.

Definition at line 126 of file graph_search.h.

Member Function Documentation

void teb_local_planner::GraphSearchInterface::clearGraph ( )

inline

Clear any existing graph of the homotopy class search.

Definition at line 116 of file graph_search.h.

virtual void teb_local_planner::GraphSearchInterface::createGraph ( const PoseSE2 &  start, const PoseSE2 &  goal, double  dist_to_obst, double  obstacle_heading_threshold, const geometry_msgs::Twist *  start_velocity  )

pure virtual

Implemented in teb_local_planner::ProbRoadmapGraph, and teb_local_planner::lrKeyPointGraph.

void teb_local_planner::GraphSearchInterface::DepthFirst ( HcGraph &  g, std::vector< HcGraphVertexType > &  visited, const HcGraphVertexType &  goal, double  start_orientation, double  goal_orientation, const geometry_msgs::Twist *  start_velocity  )

protected

Depth First Search implementation to find all paths between the start and the specified goal vertex.

Complete paths are stored to the internal path container.

See also

http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/

Parameters

g	Graph on which the depth first should be performed
visited	A container that stores visited vertices (pass an empty container, it will be filled inside during recursion).
goal	Desired goal vertex
start_orientation	Orientation of the first trajectory pose, required to initialize the trajectory/TEB
goal_orientation	Orientation of the goal trajectory pose, required to initialize the trajectory/TEB
start_velocity	start velocity (optional)

Examine adjacent nodes

Recursion for all adjacent vertices

Definition at line 45 of file graph_search.cpp.

Member Data Documentation

const TebConfig* teb_local_planner::GraphSearchInterface::cfg_

protected

Config class that stores and manages all related parameters.

Definition at line 144 of file graph_search.h.

HcGraph teb_local_planner::GraphSearchInterface::graph_

Store the graph that is utilized to find alternative homotopy classes.

Definition at line 120 of file graph_search.h.

HomotopyClassPlanner* const teb_local_planner::GraphSearchInterface::hcp_

protected

Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding.

Definition at line 145 of file graph_search.h.

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

• graph_search.h
• graph_search.cpp