Edge defining the cost function for limiting the translational and rotational velocity. More...

#include <edge_velocity.h>

Inheritance diagram for teb_local_planner::EdgeVelocity:

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

	EdgeVelocity ()
	Construct edge. More...

Public Member Functions inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
	BaseTebMultiEdge ()
	Construct edge. More...

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

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

virtual void	resize (size_t size)

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	~BaseTebMultiEdge ()
	Destruct edge. More...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for limiting the translational and rotational velocity.

The edge depends on three vertices $\mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i$ and minimizes:
$\min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight$ .
v is calculated using the difference quotient and the position parts of both poses.
omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation().
penaltyInterval denotes the penalty function, see penaltyBoundToInterval().
The dimension of the error / cost vector is 2: the first component represents the translational velocity and the second one the rotational velocity.