edge_shortest_path.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * Notes:
 * The following class is derived from a class defined by the
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 * Author: Christoph Rösmann
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#ifndef EDGE_SHORTEST_PATH_H_
#define EDGE_SHORTEST_PATH_H_

#include <float.h>

#include <base_local_planner/BaseLocalPlannerConfig.h>

#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/g2o_types/vertex_pose.h>

#include <Eigen/Core>

namespace teb_local_planner {

class EdgeShortestPath : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose> {
public:
  EdgeShortestPath() { this->setMeasurement(0.); }

  void computeError() {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeShortestPath()");
    const VertexPose *pose1 = static_cast<const VertexPose*>(_vertices[0]);
    const VertexPose *pose2 = static_cast<const VertexPose*>(_vertices[1]);
    _error[0] = (pose2->position() - pose1->position()).norm();

    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeShortestPath::computeError() _error[0]=%f\n", _error[0]);
  }

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // end namespace

#endif /* EDGE_SHORTEST_PATH_H_ */