Edge defining the cost function for pushing a configuration towards a via point. More...

#include <edge_via_point.h>

Inheritance diagram for teb_local_planner::EdgeViaPoint:

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

	EdgeViaPoint ()
	Construct edge. More...

void	setParameters (const TebConfig &cfg, const Eigen::Vector2d *via_point)
	Set all parameters at once. More...

void	setViaPoint (const Eigen::Vector2d *via_point)
	Set pointer to associated via point for the underlying cost function. More...

Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 1, const Eigen::Vector2d *, 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...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 1, const Eigen::Vector2d *, VertexPose >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for pushing a configuration towards a via point.

The edge depends on a single vertex $\mathbf{s}_i$ and minimizes:
$\min dist2point \cdot weight$ .
dist2point denotes the distance to the via point.
weight can be set using setInformation().

See also: TebOptimalPlanner::AddEdgesViaPoints

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

Definition at line 66 of file edge_via_point.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeViaPoint::EdgeViaPoint ( )

inline

Construct edge.

Definition at line 73 of file edge_via_point.h.

Member Function Documentation

void teb_local_planner::EdgeViaPoint::computeError ( )

inline

Actual cost function.

Definition at line 81 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setParameters	(	const TebConfig &	cfg,
		const Eigen::Vector2d *	via_point
	)

inline

Set all parameters at once.

Parameters

cfg	TebConfig class
via_point	2D position vector containing the position of the via point

Definition at line 105 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setViaPoint ( const Eigen::Vector2d * via_point )

inline

Set pointer to associated via point for the underlying cost function.

Parameters

via_point 2D position vector containing the position of the via point

Definition at line 95 of file edge_via_point.h.

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

edge_via_point.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation