Abstract class that defines the interface for modelling obstacles. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::Obstacle:

[legend]

Public Member Functions
	Obstacle ()
	Default constructor of the abstract obstacle class. More...

virtual	~Obstacle ()
	Virtual destructor. More...

Centroid coordinates (abstract, obstacle type depending)
virtual const Eigen::Vector2d &	getCentroid () const =0
	Get centroid coordinates of the obstacle. More...

virtual std::complex< double >	getCentroidCplx () const =0
	Get centroid coordinates of the obstacle as complex number. More...

Collision checking and distance calculations (abstract, obstacle type depending)
virtual bool	checkCollision (const Eigen::Vector2d &position, double min_dist) const =0
	Check if a given point collides with the obstacle. More...

virtual bool	checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const =0
	Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance `min_dist`) More...

virtual double	getMinimumDistance (const Eigen::Vector2d &position) const =0
	Get the minimum euclidean distance to the obstacle (point as reference) More...

virtual double	getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const =0
	Get the minimum euclidean distance to the obstacle (line as reference) More...

virtual double	getMinimumDistance (const Point2dContainer &polygon) const =0
	Get the minimum euclidean distance to the obstacle (polygon as reference) More...

virtual Eigen::Vector2d	getClosestPoint (const Eigen::Vector2d &position) const =0
	Get the closest point on the boundary of the obstacle w.r.t. a specified reference position. More...

Velocity related methods for non-static, moving obstacles
virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &position, double t) const =0
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const =0
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Point2dContainer &polygon, double t) const =0
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference) More...

virtual void	predictCentroidConstantVelocity (double t, Eigen::Ref< Eigen::Vector2d > position) const
	Predict position of the centroid assuming a constant velocity model. More...

bool	isDynamic () const
	Check if the obstacle is a moving with a (non-zero) velocity. More...

void	setCentroidVelocity (const Eigen::Ref< const Eigen::Vector2d > &vel)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::Quaternion &orientation)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::QuaternionStamped &orientation)

const Eigen::Vector2d &	getCentroidVelocity () const
	Get the obstacle velocity (vx, vy) (w.r.t. to the centroid) More...

Helper Functions
virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)=0
	Convert the obstacle to a polygon message. More...

virtual void	toTwistWithCovarianceMsg (geometry_msgs::TwistWithCovariance &twistWithCovariance)

Protected Attributes
Eigen::Vector2d	centroid_velocity_
	Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is `true`) More...

bool	dynamic_
	Store flag if obstacle is dynamic (resp. a moving obstacle) More...

Detailed Description

Abstract class that defines the interface for modelling obstacles.

Definition at line 67 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::Obstacle::Obstacle ( )

inline

Default constructor of the abstract obstacle class.

Definition at line 74 of file obstacles.h.

virtual teb_local_planner::Obstacle::~Obstacle ( )

inlinevirtual

Virtual destructor.

Definition at line 81 of file obstacles.h.

Member Function Documentation

virtual bool teb_local_planner::Obstacle::checkCollision	(	const Eigen::Vector2d &	position,
		double	min_dist
	)		const

pure virtual

Check if a given point collides with the obstacle.

Parameters

position	2D reference position that should be checked
min_dist	Minimum distance allowed to the obstacle to be collision free

Returns: true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual bool teb_local_planner::Obstacle::checkLineIntersection	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	min_dist = `0`
	)		const

pure virtual

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Returns: true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual const Eigen::Vector2d& teb_local_planner::Obstacle::getCentroid ( ) const

pure virtual

Get centroid coordinates of the obstacle.

Returns: Eigen::Vector2d containing the centroid

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual std::complex<double> teb_local_planner::Obstacle::getCentroidCplx ( ) const

pure virtual

Get centroid coordinates of the obstacle as complex number.

Returns: std::complex containing the centroid coordinate

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

const Eigen::Vector2d& teb_local_planner::Obstacle::getCentroidVelocity ( ) const

inline

Get the obstacle velocity (vx, vy) (w.r.t. to the centroid)

Returns: 2D vector containing the velocities of the centroid in x and y directions

Definition at line 245 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::Obstacle::getClosestPoint ( const Eigen::Vector2d & position ) const

pure virtual

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters

position reference 2d position

Returns: closest point on the obstacle boundary

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance ( const Eigen::Vector2d & position ) const

pure virtual

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters

position 2d reference position

Returns: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		const

pure virtual

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance ( const Point2dContainer & polygon ) const

pure virtual

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters

polygon Vertices (2D points) describing a closed polygon

Returns: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	position,
		double	t
	)		const

pure virtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference)

Parameters

position	2d reference position
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	t
	)		const

pure virtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumSpatioTemporalDistance	(	const Point2dContainer &	polygon,
		double	t
	)		const

pure virtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference)

Parameters

polygon	Vertices (2D points) describing a closed polygon
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

bool teb_local_planner::Obstacle::isDynamic ( ) const

inline

Check if the obstacle is a moving with a (non-zero) velocity.

Returns: true if the obstacle is not marked as static, false otherwise

Definition at line 199 of file obstacles.h.

virtual void teb_local_planner::Obstacle::predictCentroidConstantVelocity	(	double	t,
		Eigen::Ref< Eigen::Vector2d >	position
	)		const

inlinevirtual

Predict position of the centroid assuming a constant velocity model.

Parameters

[in]	t	time in seconds for the prediction (t>=0)
[out]	position	predicted 2d position of the centroid

Reimplemented in teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

Definition at line 190 of file obstacles.h.

void teb_local_planner::Obstacle::setCentroidVelocity ( const Eigen::Ref< const Eigen::Vector2d > & vel )

inline

Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid.

Remarks: Setting the velocity using this function marks the obstacle as dynamic (

See also: isDynamic)

Parameters

vel	2D vector containing the velocities of the centroid in x and y directions

Definition at line 206 of file obstacles.h.

void teb_local_planner::Obstacle::setCentroidVelocity	(	const geometry_msgs::TwistWithCovariance &	velocity,
		const geometry_msgs::Quaternion &	orientation
	)

inline

Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid.

Remarks: Setting the velocity using this function marks the obstacle as dynamic (

See also: isDynamic)

Parameters

velocity	geometry_msgs::TwistWithCovariance containing the velocity of the obstacle
orientation	geometry_msgs::QuaternionStamped containing the orientation of the obstacle

Definition at line 214 of file obstacles.h.

void teb_local_planner::Obstacle::setCentroidVelocity	(	const geometry_msgs::TwistWithCovariance &	velocity,
		const geometry_msgs::QuaternionStamped &	orientation
	)

inline

Definition at line 235 of file obstacles.h.

virtual void teb_local_planner::Obstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon )

pure virtual

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters

[out] polygon the polygon message

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, teb_local_planner::CircularObstacle, and teb_local_planner::PointObstacle.

virtual void teb_local_planner::Obstacle::toTwistWithCovarianceMsg ( geometry_msgs::TwistWithCovariance & twistWithCovariance )

inlinevirtual

Definition at line 264 of file obstacles.h.

Member Data Documentation

Eigen::Vector2d teb_local_planner::Obstacle::centroid_velocity_

protected

Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is true)

Definition at line 285 of file obstacles.h.

bool teb_local_planner::Obstacle::dynamic_

protected

Store flag if obstacle is dynamic (resp. a moving obstacle)

Definition at line 284 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation