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

#include <edge_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeObstacle:

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

	EdgeObstacle ()
	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< 1, 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< 1, 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 obstacles.

The edge depends on a single vertex $\mathbf{s}_i$ and minimizes:
$\min \textrm{penaltyBelow}( dist2point ) \cdot weight$ .
dist2point denotes the minimum distance to the point obstacle.
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also: TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle

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

Definition at line 70 of file edge_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeObstacle::EdgeObstacle ( )

inline

Construct edge.

Definition at line 77 of file edge_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeObstacle::computeError ( )

inline

Actual cost function.

Definition at line 85 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::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 146 of file edge_obstacle.h.

void teb_local_planner::EdgeObstacle::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 166 of file edge_obstacle.h.

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

inline

Set pointer to the robot model.

Parameters

robot_model Robot model required for distance calculation

Definition at line 155 of file edge_obstacle.h.

Member Data Documentation

const BaseRobotFootprintModel* teb_local_planner::EdgeObstacle::robot_model_

protected

Store pointer to robot_model.

Definition at line 175 of file edge_obstacle.h.

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

edge_obstacle.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation