This class stores and wraps a time difference $\Delta T$ into a vertex that can be optimized via g2o. More...

#include <vertex_timediff.h>

Inheritance diagram for teb_local_planner::VertexTimeDiff:

Public Member Functions
double &	dt ()
	Access the timediff value of the vertex. More...

const double &	dt () const
	Access the timediff value of the vertex (read-only) More...

virtual void	oplusImpl (const double *update)
	Define the update increment $\Delta T_{k+1} = \Delta T_k + update$ . A simple addition implements what we want. More...

virtual bool	read (std::istream &is)
	Read an estimate of $\Delta T$ from an input stream. More...

virtual void	setToOriginImpl ()
	Set the underlying TimeDiff estimate $\Delta T$ to default. More...

	VertexTimeDiff (bool fixed=false)
	Default constructor. More...

	VertexTimeDiff (double dt, bool fixed=false)
	Construct the TimeDiff vertex with a value. More...

virtual bool	write (std::ostream &os) const
	Write the estimate $\Delta T$ to an output stream. More...

	~VertexTimeDiff ()
	Destructs the VertexTimeDiff. More...

Detailed Description

This class stores and wraps a time difference $\Delta T$ into a vertex that can be optimized via g2o.

See also: VertexPointXY; VertexOrientation

Definition at line 65 of file vertex_timediff.h.

Constructor & Destructor Documentation

teb_local_planner::VertexTimeDiff::VertexTimeDiff ( bool fixed = false )

inline

Default constructor.

Parameters

fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 73 of file vertex_timediff.h.

teb_local_planner::VertexTimeDiff::VertexTimeDiff	(	double	dt,
		bool	fixed = `false`
	)

inline

Construct the TimeDiff vertex with a value.

Parameters

dt	time difference value of the vertex
fixed	if `true`, this vertex is considered fixed during optimization [default: `false`]

Definition at line 84 of file vertex_timediff.h.

teb_local_planner::VertexTimeDiff::~VertexTimeDiff ( )

inline

Destructs the VertexTimeDiff.

Definition at line 93 of file vertex_timediff.h.

Member Function Documentation

double& teb_local_planner::VertexTimeDiff::dt ( )

inline

Access the timediff value of the vertex.

See also: estimate

Returns: reference to dt

Definition at line 101 of file vertex_timediff.h.

const double& teb_local_planner::VertexTimeDiff::dt ( ) const

inline

Access the timediff value of the vertex (read-only)

See also: estimate

Returns: const reference to dt

Definition at line 108 of file vertex_timediff.h.

virtual void teb_local_planner::VertexTimeDiff::oplusImpl ( const double * update )

inlinevirtual

Define the update increment $\Delta T_{k+1} = \Delta T_k + update$ . A simple addition implements what we want.

Parameters

update increment that should be added to the previous esimate

Definition at line 123 of file vertex_timediff.h.

virtual bool teb_local_planner::VertexTimeDiff::read ( std::istream & is )

inlinevirtual

Read an estimate of $\Delta T$ from an input stream.

Parameters

is	input stream

Returns: always true

Definition at line 133 of file vertex_timediff.h.

virtual void teb_local_planner::VertexTimeDiff::setToOriginImpl ( )

inlinevirtual

Set the underlying TimeDiff estimate $\Delta T$ to default.

Definition at line 113 of file vertex_timediff.h.

virtual bool teb_local_planner::VertexTimeDiff::write ( std::ostream & os ) const

inlinevirtual

Write the estimate $\Delta T$ to an output stream.

Parameters

os	output stream

Returns: true if the export was successful, otherwise false

Definition at line 144 of file vertex_timediff.h.

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

vertex_timediff.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation