Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. More...

#include <edge_dynamic_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeDynamicObstacle:

Public Member Functions
void	computeError ()
	Actual cost function. More...

	EdgeDynamicObstacle ()
	Construct edge. More...

	EdgeDynamicObstacle (double t)
	Construct edge and specify the time for its associated pose (neccessary for computeError). More...

void	setObstacle (const Obstacle *obstacle)
	Set Obstacle for the underlying cost function. More...

void	setParameters (const TebConfig &cfg, const BaseRobotFootprintModel robot_model, const Obstacle obstacle)
	Set all parameters at once. More...

void	setRobotModel (const BaseRobotFootprintModel *robot_model)
	Set pointer to the robot model. More...

Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
	BaseTebUnaryEdge ()
	Construct edge. More...

ErrorVector &	getError ()
	Compute and return error / cost value. More...

virtual bool	read (std::istream &is)
	Read values from input stream. More...

void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters. More...

virtual bool	write (std::ostream &os) const
	Write values to an output stream. More...

virtual	~BaseTebUnaryEdge ()
	Destruct edge. More...

Protected Attributes
const BaseRobotFootprintModel *	robot_model_
	Store pointer to robot_model. More...

double	t_
	Estimated time until current pose is reached. More...

Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles.

The edge depends on two vertices $\mathbf{s}_i, \Delta T_i$ and minimizes:
$\min \textrm{penaltyBelow}( dist2obstacle) \cdot weight$ .
dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal).
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow().

See also: TebOptimalPlanner::AddEdgesDynamicObstacles

Remarks: Do not forget to call setTebConfig(), setVertexIdx() and

Warning: Experimental

Definition at line 71 of file edge_dynamic_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( )

inline

Construct edge.

Definition at line 78 of file edge_dynamic_obstacle.h.

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( double t )

inline

Construct edge and specify the time for its associated pose (neccessary for computeError).

Parameters

t_	Estimated time until current pose is reached

Definition at line 86 of file edge_dynamic_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeDynamicObstacle::computeError ( )

inline

Actual cost function.

Definition at line 93 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setObstacle ( const Obstacle * obstacle )

inline

Set Obstacle for the underlying cost function.

Parameters

obstacle Const pointer to an Obstacle or derived Obstacle

Definition at line 111 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setParameters	(	const TebConfig &	cfg,
		const BaseRobotFootprintModel *	robot_model,
		const Obstacle *	obstacle
	)

inline

Set all parameters at once.

Parameters

cfg	TebConfig class
robot_model	Robot model required for distance calculation
obstacle	2D position vector containing the position of the obstacle

Definition at line 131 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setRobotModel ( const BaseRobotFootprintModel * robot_model )

inline

Set pointer to the robot model.

Parameters

robot_model Robot model required for distance calculation

Definition at line 120 of file edge_dynamic_obstacle.h.

Member Data Documentation

const BaseRobotFootprintModel* teb_local_planner::EdgeDynamicObstacle::robot_model_

protected

Store pointer to robot_model.

Definition at line 140 of file edge_dynamic_obstacle.h.

double teb_local_planner::EdgeDynamicObstacle::t_

protected

Estimated time until current pose is reached.

Definition at line 141 of file edge_dynamic_obstacle.h.

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

edge_dynamic_obstacle.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation