teb_local_planner::EdgeInflatedObstacle Class Reference

Edge defining the cost function for keeping a minimum distance from inflated obstacles. More...

#include <edge_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeInflatedObstacle:

Public Member Functions
void	computeError ()
	Actual cost function. More...
	EdgeInflatedObstacle ()
	Construct edge. More...
void	setObstacle (const Obstacle *obstacle)
	Set pointer to associated 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...
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 minimum distance from inflated obstacles.

The edge depends on a single vertex and minimizes:
.
Additional, a second penalty is provided with
. It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. dist2point denotes the minimum distance to the point obstacle.
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also

TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle

Remarks

Do not forget to call setTebConfig() and setObstacle()

Definition at line 198 of file edge_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeInflatedObstacle::EdgeInflatedObstacle ( )

inline

Construct edge.

Definition at line 205 of file edge_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeInflatedObstacle::computeError ( )

inline

Actual cost function.

Definition at line 213 of file edge_obstacle.h.

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

inline

Set pointer to associated obstacle for the underlying cost function.

Parameters

obstacle

2D position vector containing the position of the obstacle

Definition at line 231 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::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 251 of file edge_obstacle.h.

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

inline

Set pointer to the robot model.

Parameters

robot_model

Robot model required for distance calculation

Definition at line 240 of file edge_obstacle.h.

Member Data Documentation

const BaseRobotFootprintModel* teb_local_planner::EdgeInflatedObstacle::robot_model_

protected

Store pointer to robot_model.

Definition at line 260 of file edge_obstacle.h.

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

• edge_obstacle.h