#include <simple_trajectory_generator.h>
Public Member Functions | |
bool | generateTrajectory (Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f sample_target_vel, base_local_planner::Trajectory &traj) |
bool | hasMoreTrajectories () |
void | initialise (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, const Eigen::Vector3f &goal, base_local_planner::LocalPlannerLimits *limits, const Eigen::Vector3f &vsamples, bool discretize_by_time=false) |
void | initialise (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, const Eigen::Vector3f &goal, base_local_planner::LocalPlannerLimits *limits, const Eigen::Vector3f &vsamples, std::vector< Eigen::Vector3f > additional_samples, bool discretize_by_time=false) |
bool | nextTrajectory (Trajectory &traj) |
void | setParameters (double sim_time, double sim_granularity, double angular_sim_granularity, bool use_dwa=false, double sim_period=0.0) |
SimpleTrajectoryGenerator () | |
~SimpleTrajectoryGenerator () | |
Public Member Functions inherited from base_local_planner::TrajectorySampleGenerator | |
virtual | ~TrajectorySampleGenerator () |
Virtual destructor for the interface. More... | |
Static Public Member Functions | |
static Eigen::Vector3f | computeNewPositions (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, double dt) |
static Eigen::Vector3f | computeNewVelocities (const Eigen::Vector3f &sample_target_vel, const Eigen::Vector3f &vel, Eigen::Vector3f acclimits, double dt) |
Protected Attributes | |
double | angular_sim_granularity_ |
bool | continued_acceleration_ |
bool | discretize_by_time_ |
base_local_planner::LocalPlannerLimits * | limits_ |
unsigned int | next_sample_index_ |
Eigen::Vector3f | pos_ |
std::vector< Eigen::Vector3f > | sample_params_ |
double | sim_granularity_ |
double | sim_period_ |
double | sim_time_ |
bool | use_dwa_ |
Eigen::Vector3f | vel_ |
Additional Inherited Members | |
Protected Member Functions inherited from base_local_planner::TrajectorySampleGenerator | |
TrajectorySampleGenerator () | |
generates trajectories based on equi-distant discretisation of the degrees of freedom. This is supposed to be a simple and robust implementation of the TrajectorySampleGenerator interface, more efficient implementations are thinkable.
This can be used for both dwa and trajectory rollout approaches. As an example, assuming these values: sim_time = 1s, sim_period=200ms, dt = 200ms, vsamples_x=5, acc_limit_x = 1m/s^2, vel_x=0 (robot at rest, values just for easy calculations) dwa_planner will sample max-x-velocities from 0m/s to 0.2m/s. trajectory rollout approach will sample max-x-velocities 0m/s up to 1m/s trajectory rollout approach does so respecting the acceleration limit, so it gradually increases velocity
Definition at line 96 of file simple_trajectory_generator.h.
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Definition at line 134 of file simple_trajectory_generator.h.
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Definition at line 138 of file simple_trajectory_generator.h.
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Definition at line 292 of file simple_trajectory_generator.cpp.
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change vel using acceleration limits to converge towards sample_target-vel
Definition at line 304 of file simple_trajectory_generator.cpp.
bool base_local_planner::SimpleTrajectoryGenerator::generateTrajectory | ( | Eigen::Vector3f | pos, |
Eigen::Vector3f | vel, | ||
Eigen::Vector3f | sample_target_vel, | ||
base_local_planner::Trajectory & | traj | ||
) |
pos | current position of robot |
vel | desired velocity for sampling |
Definition at line 215 of file simple_trajectory_generator.cpp.
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Whether this generator can create more trajectories
Implements base_local_planner::TrajectorySampleGenerator.
Definition at line 189 of file simple_trajectory_generator.cpp.
void base_local_planner::SimpleTrajectoryGenerator::initialise | ( | const Eigen::Vector3f & | pos, |
const Eigen::Vector3f & | vel, | ||
const Eigen::Vector3f & | goal, | ||
base_local_planner::LocalPlannerLimits * | limits, | ||
const Eigen::Vector3f & | vsamples, | ||
bool | discretize_by_time = false |
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) |
pos | current robot position |
vel | current robot velocity |
limits | Current velocity limits |
vsamples | in how many samples to divide the given dimension |
use_acceleration_limits | if true use physical model, else idealized robot model |
discretize_by_time | if true, the trajectory is split according in chunks of the same duration, else of same length |
Definition at line 95 of file simple_trajectory_generator.cpp.
void base_local_planner::SimpleTrajectoryGenerator::initialise | ( | const Eigen::Vector3f & | pos, |
const Eigen::Vector3f & | vel, | ||
const Eigen::Vector3f & | goal, | ||
base_local_planner::LocalPlannerLimits * | limits, | ||
const Eigen::Vector3f & | vsamples, | ||
std::vector< Eigen::Vector3f > | additional_samples, | ||
bool | discretize_by_time = false |
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) |
pos | current robot position |
vel | current robot velocity |
limits | Current velocity limits |
vsamples | in how many samples to divide the given dimension |
use_acceleration_limits | if true use physical model, else idealized robot model |
additional_samples | (deprecated): Additional velocity samples to generate individual trajectories from. |
discretize_by_time | if true, the trajectory is split according in chunks of the same duration, else of same length |
Definition at line 81 of file simple_trajectory_generator.cpp.
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Whether this generator can create more trajectories
Create and return the next sample trajectory
Implements base_local_planner::TrajectorySampleGenerator.
Definition at line 196 of file simple_trajectory_generator.cpp.
void base_local_planner::SimpleTrajectoryGenerator::setParameters | ( | double | sim_time, |
double | sim_granularity, | ||
double | angular_sim_granularity, | ||
bool | use_dwa = false , |
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double | sim_period = 0.0 |
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) |
This function is to be called only when parameters change
sim_granularity | granularity of collision detection |
angular_sim_granularity | angular granularity of collision detection |
use_dwa | whether to use DWA or trajectory rollout |
sim_period | distance between points in one trajectory |
Definition at line 172 of file simple_trajectory_generator.cpp.
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Definition at line 224 of file simple_trajectory_generator.h.
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Definition at line 221 of file simple_trajectory_generator.h.
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Definition at line 222 of file simple_trajectory_generator.h.
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Definition at line 216 of file simple_trajectory_generator.h.
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Definition at line 213 of file simple_trajectory_generator.h.
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Definition at line 217 of file simple_trajectory_generator.h.
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Definition at line 215 of file simple_trajectory_generator.h.
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Definition at line 224 of file simple_trajectory_generator.h.
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Definition at line 226 of file simple_trajectory_generator.h.
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Definition at line 224 of file simple_trajectory_generator.h.
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Definition at line 225 of file simple_trajectory_generator.h.
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Definition at line 218 of file simple_trajectory_generator.h.