Implements a 2D circular obstacle (point obstacle plus radius) More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::CircularObstacle:

Public Member Functions
virtual bool	checkCollision (const Eigen::Vector2d &point, double min_dist) const
	Check if a given point collides with the obstacle. More...

virtual bool	checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const
	Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance `min_dist`) More...

	CircularObstacle ()
	Default constructor of the circular obstacle class. More...

	CircularObstacle (const Eigen::Ref< const Eigen::Vector2d > &position, double radius)
	Construct CircularObstacle using a 2d center position vector and radius. More...

	CircularObstacle (double x, double y, double radius)
	Construct CircularObstacle using x- and y-center-coordinates and radius. More...

virtual const Eigen::Vector2d &	getCentroid () const
	Get centroid coordinates of the obstacle. More...

virtual std::complex< double >	getCentroidCplx () const
	Get centroid coordinates of the obstacle as complex number. More...

virtual Eigen::Vector2d	getClosestPoint (const Eigen::Vector2d &position) const
	Get the closest point on the boundary of the obstacle w.r.t. a specified reference position. More...

virtual double	getMinimumDistance (const Eigen::Vector2d &position) const
	Get the minimum euclidean distance to the obstacle (point as reference) More...

virtual double	getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const
	Get the minimum euclidean distance to the obstacle (line as reference) More...

virtual double	getMinimumDistance (const Point2dContainer &polygon) const
	Get the minimum euclidean distance to the obstacle (polygon as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &position, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Point2dContainer &polygon, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference) More...

const Eigen::Vector2d &	position () const
	Return the current position of the obstacle (read-only) More...

Eigen::Vector2d &	position ()
	Return the current position of the obstacle. More...

virtual void	predictCentroidConstantVelocity (double t, Eigen::Ref< Eigen::Vector2d > position) const
	Predict position of the centroid assuming a constant velocity model. More...

double &	radius ()
	Return the current radius of the obstacle. More...

const double &	radius () const
	Return the current radius of the obstacle. More...

virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)
	Convert the obstacle to a polygon message. More...

double &	x ()
	Return the current x-coordinate of the obstacle. More...

const double &	x () const
	Return the current y-coordinate of the obstacle (read-only) More...

double &	y ()
	Return the current x-coordinate of the obstacle. More...

const double &	y () const
	Return the current y-coordinate of the obstacle (read-only) More...

Public Member Functions inherited from teb_local_planner::Obstacle
	Obstacle ()
	Default constructor of the abstract obstacle class. More...

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

bool	isDynamic () const
	Check if the obstacle is a moving with a (non-zero) velocity. More...

void	setCentroidVelocity (const Eigen::Ref< const Eigen::Vector2d > &vel)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::Quaternion &orientation)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::QuaternionStamped &orientation)

const Eigen::Vector2d &	getCentroidVelocity () const
	Get the obstacle velocity (vx, vy) (w.r.t. to the centroid) More...

virtual void	toTwistWithCovarianceMsg (geometry_msgs::TwistWithCovariance &twistWithCovariance)

Protected Attributes
Eigen::Vector2d	pos_
	Store the center position of the CircularObstacle. More...

double	radius_ = 0.0
	Radius of the obstacle. More...

Protected Attributes inherited from teb_local_planner::Obstacle
Eigen::Vector2d	centroid_velocity_
	Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is `true`) More...

bool	dynamic_
	Store flag if obstacle is dynamic (resp. a moving obstacle) More...

Detailed Description

Implements a 2D circular obstacle (point obstacle plus radius)

Definition at line 447 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::CircularObstacle::CircularObstacle ( )

inline

Default constructor of the circular obstacle class.

Definition at line 454 of file obstacles.h.

teb_local_planner::CircularObstacle::CircularObstacle	(	const Eigen::Ref< const Eigen::Vector2d > &	position,
		double	radius
	)

inline

Construct CircularObstacle using a 2d center position vector and radius.

Parameters

position	2d position that defines the current obstacle position
radius	radius of the obstacle

Definition at line 462 of file obstacles.h.

teb_local_planner::CircularObstacle::CircularObstacle	(	double	x,
		double	y,
		double	radius
	)

inline

Construct CircularObstacle using x- and y-center-coordinates and radius.

Parameters

x	x-coordinate
y	y-coordinate
radius	radius of the obstacle

Definition at line 471 of file obstacles.h.

Member Function Documentation

virtual bool teb_local_planner::CircularObstacle::checkCollision	(	const Eigen::Vector2d &	position,
		double	min_dist
	)		const

inlinevirtual

Check if a given point collides with the obstacle.

Parameters

position	2D reference position that should be checked
min_dist	Minimum distance allowed to the obstacle to be collision free

Returns: true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 476 of file obstacles.h.

virtual bool teb_local_planner::CircularObstacle::checkLineIntersection	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	min_dist = `0`
	)		const

inlinevirtual

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Returns: true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 483 of file obstacles.h.

virtual const Eigen::Vector2d& teb_local_planner::CircularObstacle::getCentroid ( ) const

inlinevirtual

Get centroid coordinates of the obstacle.

Returns: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 550 of file obstacles.h.

virtual std::complex<double> teb_local_planner::CircularObstacle::getCentroidCplx ( ) const

inlinevirtual

Get centroid coordinates of the obstacle as complex number.

Returns: std::complex containing the centroid coordinate

Implements teb_local_planner::Obstacle.

Definition at line 556 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::CircularObstacle::getClosestPoint ( const Eigen::Vector2d & position ) const

inlinevirtual

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters

position reference 2d position

Returns: closest point on the obstacle boundary

Implements teb_local_planner::Obstacle.

Definition at line 520 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumDistance ( const Eigen::Vector2d & position ) const

inlinevirtual

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters

position 2d reference position

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 502 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		const

inlinevirtual

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 508 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumDistance ( const Point2dContainer & polygon ) const

inlinevirtual

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters

polygon Vertices (2D points) describing a closed polygon

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 514 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	position,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference)

Parameters

position	2d reference position
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 526 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 532 of file obstacles.h.

virtual double teb_local_planner::CircularObstacle::getMinimumSpatioTemporalDistance	(	const Point2dContainer &	polygon,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference)

Parameters

polygon	Vertices (2D points) describing a closed polygon
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 538 of file obstacles.h.

const Eigen::Vector2d& teb_local_planner::CircularObstacle::position ( ) const

inline

Return the current position of the obstacle (read-only)

Definition at line 562 of file obstacles.h.

Eigen::Vector2d& teb_local_planner::CircularObstacle::position ( )

inline

Return the current position of the obstacle.

Definition at line 563 of file obstacles.h.

virtual void teb_local_planner::CircularObstacle::predictCentroidConstantVelocity	(	double	t,
		Eigen::Ref< Eigen::Vector2d >	position
	)		const

inlinevirtual

Predict position of the centroid assuming a constant velocity model.

Parameters

[in]	t	time in seconds for the prediction (t>=0)
[out]	position	predicted 2d position of the centroid

Reimplemented from teb_local_planner::Obstacle.

Definition at line 544 of file obstacles.h.

double& teb_local_planner::CircularObstacle::radius ( )

inline

Return the current radius of the obstacle.

Definition at line 568 of file obstacles.h.

const double& teb_local_planner::CircularObstacle::radius ( ) const

inline

Return the current radius of the obstacle.

Definition at line 569 of file obstacles.h.

virtual void teb_local_planner::CircularObstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon )

inlinevirtual

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters

[out] polygon the polygon message

Implements teb_local_planner::Obstacle.

Definition at line 572 of file obstacles.h.

double& teb_local_planner::CircularObstacle::x ( )

inline

Return the current x-coordinate of the obstacle.

Definition at line 564 of file obstacles.h.

const double& teb_local_planner::CircularObstacle::x ( ) const

inline

Return the current y-coordinate of the obstacle (read-only)

Definition at line 565 of file obstacles.h.

double& teb_local_planner::CircularObstacle::y ( )

inline

Return the current x-coordinate of the obstacle.

Definition at line 566 of file obstacles.h.

const double& teb_local_planner::CircularObstacle::y ( ) const

inline

Return the current y-coordinate of the obstacle (read-only)

Definition at line 567 of file obstacles.h.

Member Data Documentation

Eigen::Vector2d teb_local_planner::CircularObstacle::pos_

protected

Store the center position of the CircularObstacle.

Definition at line 584 of file obstacles.h.

double teb_local_planner::CircularObstacle::radius_ = 0.0

protected

Radius of the obstacle.

Definition at line 585 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation