Abstract class that defines the interface for robot footprint/contour models. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::BaseRobotFootprintModel:

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Public Member Functions
	BaseRobotFootprintModel ()
	Default constructor of the abstract obstacle class. More...

virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const =0
	Calculate the distance between the robot and an obstacle. More...

virtual double	estimateSpatioTemporalDistance (const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const =0
	Estimate the distance between the robot and the predicted location of an obstacle at time t. More...

virtual double	getInscribedRadius ()=0
	Compute the inscribed radius of the footprint model. More...

virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
	Visualize the robot using a markers. More...

virtual	~BaseRobotFootprintModel ()
	Virtual destructor. More...

Detailed Description

Abstract class that defines the interface for robot footprint/contour models.

The robot model class is currently used in optimization only, since taking the navigation stack footprint into account might be inefficient. The footprint is only used for checking feasibility.

Definition at line 58 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::BaseRobotFootprintModel::BaseRobotFootprintModel ( )

inline

Default constructor of the abstract obstacle class.

Definition at line 65 of file robot_footprint_model.h.

virtual teb_local_planner::BaseRobotFootprintModel::~BaseRobotFootprintModel ( )

inlinevirtual

Virtual destructor.

Definition at line 72 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::BaseRobotFootprintModel::calculateDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle
	)		const

pure virtual

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

Implemented in teb_local_planner::PolygonRobotFootprint, teb_local_planner::LineRobotFootprint, teb_local_planner::TwoCirclesRobotFootprint, teb_local_planner::CircularRobotFootprint, and teb_local_planner::PointRobotFootprint.

virtual double teb_local_planner::BaseRobotFootprintModel::estimateSpatioTemporalDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle,
		double	t
	)		const

pure virtual

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

Implemented in teb_local_planner::PolygonRobotFootprint, teb_local_planner::LineRobotFootprint, teb_local_planner::TwoCirclesRobotFootprint, teb_local_planner::CircularRobotFootprint, and teb_local_planner::PointRobotFootprint.

virtual double teb_local_planner::BaseRobotFootprintModel::getInscribedRadius ( )

pure virtual

Compute the inscribed radius of the footprint model.

Returns: inscribed radius

Implemented in teb_local_planner::PolygonRobotFootprint, teb_local_planner::LineRobotFootprint, teb_local_planner::TwoCirclesRobotFootprint, teb_local_planner::CircularRobotFootprint, and teb_local_planner::PointRobotFootprint.

virtual void teb_local_planner::BaseRobotFootprintModel::visualizeRobot	(	const PoseSE2 &	current_pose,
		std::vector< visualization_msgs::Marker > &	markers
	)		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

Reimplemented in teb_local_planner::PolygonRobotFootprint, teb_local_planner::LineRobotFootprint, teb_local_planner::TwoCirclesRobotFootprint, and teb_local_planner::CircularRobotFootprint.

Definition at line 102 of file robot_footprint_model.h.

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

robot_footprint_model.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation