Public Member Functions | Private Attributes | List of all members
teb_local_planner::ProbRoadmapGraph Class Reference

#include <graph_search.h>

Inheritance diagram for teb_local_planner::ProbRoadmapGraph:
Inheritance graph

Public Member Functions

virtual void createGraph (const PoseSE2 &start, const PoseSE2 &goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist *start_velocity)
 Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal. More...
 ProbRoadmapGraph (const TebConfig &cfg, HomotopyClassPlanner *hcp)
virtual ~ProbRoadmapGraph ()
- Public Member Functions inherited from teb_local_planner::GraphSearchInterface
void clearGraph ()
 Clear any existing graph of the homotopy class search. More...

Private Attributes

boost::random::mt19937 rnd_generator_
 Random number generator used by createProbRoadmapGraph to sample graph keypoints. More...

Additional Inherited Members

- Public Attributes inherited from teb_local_planner::GraphSearchInterface
HcGraph graph_
 Store the graph that is utilized to find alternative homotopy classes. More...
- Protected Member Functions inherited from teb_local_planner::GraphSearchInterface
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 inherited from teb_local_planner::GraphSearchInterface
const TebConfigcfg_
 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

Definition at line 181 of file graph_search.h.

Constructor & Destructor Documentation

teb_local_planner::ProbRoadmapGraph::ProbRoadmapGraph ( const TebConfig cfg,
HomotopyClassPlanner hcp 

Definition at line 184 of file graph_search.h.

virtual teb_local_planner::ProbRoadmapGraph::~ProbRoadmapGraph ( )

Definition at line 186 of file graph_search.h.

Member Function Documentation

void teb_local_planner::ProbRoadmapGraph::createGraph ( const PoseSE2 start,
const PoseSE2 goal,
double  dist_to_obst,
double  obstacle_heading_threshold,
const geometry_msgs::Twist *  start_velocity 

Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal.

This version of the graph samples keypoints in a predefined area (config) in the current frame between start and goal.
Afterwards all feasible paths between start and goal point are extracted using a Depth First Search.
Use the sampling method for complex, non-point or huge obstacles.
You may call createGraph() instead.

See also
startStart pose from wich to start on (e.g. the current robot pose).
goalGoal pose to find paths to (e.g. the robot's goal).
dist_to_obstAllowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization).
no_samplesnumber of random samples
obstacle_heading_thresholdValue of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1]
start_velocitystart velocity (optional)

Find all paths between start and goal!

Implements teb_local_planner::GraphSearchInterface.

Definition at line 220 of file graph_search.cpp.

Member Data Documentation

boost::random::mt19937 teb_local_planner::ProbRoadmapGraph::rnd_generator_

Random number generator used by createProbRoadmapGraph to sample graph keypoints.

Definition at line 208 of file graph_search.h.

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

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