#include <graph_search.h>

Inheritance diagram for teb_local_planner::lrKeyPointGraph:

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 containing points in the global frame that can be used to explore new possible paths between start and goal. More...

	lrKeyPointGraph (const TebConfig &cfg, HomotopyClassPlanner *hcp)

virtual	~lrKeyPointGraph ()

Public Member Functions inherited from teb_local_planner::GraphSearchInterface
void	clearGraph ()
	Clear any existing graph of the homotopy class search. 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 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

Definition at line 153 of file graph_search.h.

Constructor & Destructor Documentation

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

inline

Definition at line 156 of file graph_search.h.

virtual teb_local_planner::lrKeyPointGraph::~lrKeyPointGraph ( )

inlinevirtual

Definition at line 158 of file graph_search.h.

Member Function Documentation

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

virtual

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

This version of the graph creation places a keypoint on the left and right side of each obstacle w.r.t to the goal heading.
All feasible paths between start and goal point are extracted using a Depth First Search afterwards.
This version works very well for small point obstacles. For more complex obstacles call the createProbRoadmapGraph() method that samples keypoints in a predefined area and hopefully finds all relevant alternative paths.

See also: createProbRoadmapGraph

Parameters

start	Start pose from wich to start on (e.g. the current robot pose).
goal	Goal pose to find paths to (e.g. the robot's goal).
dist_to_obst	Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization).
obstacle_heading_threshold	Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1]
start_velocity	start velocity (optional)

Implements teb_local_planner::GraphSearchInterface.

Definition at line 93 of file graph_search.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation