teb_local_planner::TwoCirclesRobotFootprint Class Reference

Class that approximates the robot with two shifted circles. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::TwoCirclesRobotFootprint:

Public Member Functions
virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
	Calculate the distance between the robot and an obstacle. 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	setParameters (double front_offset, double front_radius, double rear_offset, double rear_radius)
	Set parameters of the contour/footprint. More...
	TwoCirclesRobotFootprint (double front_offset, double front_radius, double rear_offset, double rear_radius)
	Default constructor of the abstract obstacle class. 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	~TwoCirclesRobotFootprint ()
	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	front_offset_
double	front_radius_
double	rear_offset_
double	rear_radius_

Detailed Description

Class that approximates the robot with two shifted circles.

Definition at line 264 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::TwoCirclesRobotFootprint::TwoCirclesRobotFootprint ( double  front_offset, double  front_radius, double  rear_offset, double  rear_radius  )

inline

Default constructor of the abstract obstacle class.

Parameters

front_offset	shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radius	radius of the front circle
rear_offset	shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radius	radius of the front circle

Definition at line 275 of file robot_footprint_model.h.

virtual teb_local_planner::TwoCirclesRobotFootprint::~TwoCirclesRobotFootprint ( )

inlinevirtual

Virtual destructor.

Definition at line 281 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::TwoCirclesRobotFootprint::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 299 of file robot_footprint_model.h.

virtual double teb_local_planner::TwoCirclesRobotFootprint::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 314 of file robot_footprint_model.h.

virtual double teb_local_planner::TwoCirclesRobotFootprint::getInscribedRadius ( )

inlinevirtual

Compute the inscribed radius of the footprint model.

Returns

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 365 of file robot_footprint_model.h.

void teb_local_planner::TwoCirclesRobotFootprint::setParameters ( double  front_offset, double  front_radius, double  rear_offset, double  rear_radius  )

inline

Set parameters of the contour/footprint.

Parameters

front_offset	shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radius	radius of the front circle
rear_offset	shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radius	radius of the front circle

Definition at line 290 of file robot_footprint_model.h.

virtual void teb_local_planner::TwoCirclesRobotFootprint::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 331 of file robot_footprint_model.h.

Member Data Documentation

double teb_local_planner::TwoCirclesRobotFootprint::front_offset_

private

Definition at line 374 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::front_radius_

private

Definition at line 375 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::rear_offset_

private

Definition at line 376 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::rear_radius_

private

Definition at line 377 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