mpc_local_planner Namespace Reference

Classes
class	BaseRobotSE2
	Specialization of RobotDynamicsInterface for mobile robots operating in SE2. More...
class	Controller
	MPC controller for mobile robots. More...
class	CrankNicolsonDiffCollocationSE2
	Collocation via Crank-Nicolson differences (specialized for SE2) More...
class	FiniteDifferencesGridSE2
	Finite differences grid for SE2. More...
class	FiniteDifferencesVariableGridSE2
	Finite differences grid with variable resolution for SE2. More...
class	ForwardDiffCollocationSE2
	Collocation via forward differences (specialized for SE2) More...
class	FullDiscretizationGridBaseSE2
	Full discretization grid specialization for SE2. More...
class	KinematicBicycleModelVelocityInput
	Kinematic Bicycle Model with Velocity Input. More...
class	MidpointDiffCollocationSE2
	Collocation via midpoint differences (specialized for SE2) More...
class	MinTimeViaPointsCost
	Hybrid cost function with minimum time and via-point objectives. More...
class	MpcLocalPlannerROS
	Implements both nav_core::BaseLocalPlanner and mbf_costmap_core::CostmapController abstract interfaces, so the teb_local_planner plugin can be used both in move_base and move_base_flex (MBF). More...
class	PartiallyFixedVectorVertexSE2
	VectorVertexSE2 with support for partially fixed components. More...
class	Publisher
	This class provides publishing methods for common messages. More...
class	QuadraticFinalStateCostSE2
	Quadratic final state cost (specialized for SE2) More...
class	QuadraticFormCostSE2
	Quadratic form running cost (specialized for SE2) More...
class	QuadraticStateCostSE2
	Quadratic state running cost (specialized for SE2) More...
class	RobotDynamicsInterface
	Specialization of SystemDynamicsInterface for mobile robots. More...
class	SimpleCarFrontWheelDrivingModel
	Simple car model with front wheel actuation. More...
class	SimpleCarModel
	Simple car model. More...
class	StageInequalitySE2
	Stage inequality constraint for obstacle avoidance and control deviation limits. More...
class	TerminalBallSE2
	Terminal ball constraint (specialized for SE2) More...
class	TimeSeriesSE2
	Time Series with SE2 support. More...
class	UnicycleModel
	Unicycle model. More...
class	VectorVertexSE2
	Vertex specialization for vectors in SE2. More...

Functions
double	average_angles (const std::vector< double > &angles)
	Return the average angle of an arbitrary number of given angles [rad]. More...
void	convert (const corbo::TimeSeries &time_series, const RobotDynamicsInterface &dynamics, std::vector< geometry_msgs::PoseStamped > &poses_stamped, const std::string &frame_id)
	Convert TimeSeries to pose array. More...
template<typename V1 , typename V2 >
double	cross2d (const V1 &v1, const V2 &v2)
	Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d) More...
template<typename P1 , typename P2 >
double	distance_points2d (const P1 &point1, const P2 &point2)
	Calculate Euclidean distance between two 2D point datatypes. More...
double	distance_points2d (double x1, double y1, double x2, double y2)
	Calculate Euclidean distance between two 2D points. More...
double	interpolate_angle (double angle1, double angle2, double factor)
	Return the interpolated angle between two angles [rad]. More...
double	normalize_theta (double theta)
	normalize angle to interval [-pi, pi) More...

Function Documentation

average_angles()

double mpc_local_planner::average_angles ( const std::vector< double > &  angles )

inline

Return the average angle of an arbitrary number of given angles [rad].

Parameters

angles

vector containing all angles

Returns

average / mean angle, that is normalized to [-pi, pi]

Definition at line 55 of file math_utils.h.

convert()

void mpc_local_planner::convert	(	const corbo::TimeSeries &	time_series,
		const RobotDynamicsInterface &	dynamics,
		std::vector< geometry_msgs::PoseStamped > &	poses_stamped,
		const std::string &	frame_id
	)

Convert TimeSeries to pose array.

Converts TimeSeries to std::vector<geometry_msgs::PoseStamped>.

Remarks

Note, the actual data of the TimeSeries object is copied without interpolation.

Todo:

We could avoid the system dynamics dependency by specifying a generic getter function for the SE2 poses

Parameters

[in]	time_series	corbo::TimeSeries object or any child class
[in]	dynamics	Reference to the robot dynamics interface (to access state-to-SE2 conversion methods)
[out]	poses_stamped	The resulting pose array (note, the incoming vector will be cleared)
[in]	frame_id	The planning frame id that is added to the message header

Definition at line 49 of file conversion.cpp.

cross2d()

template<typename V1 , typename V2 >

double mpc_local_planner::cross2d ( const V1 &  v1, const V2 &  v2  )

inline

Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d)

Parameters

v1	object containing public methods x() and y()
v2	object containing fields x() and y()

Returns

magnitude that would result in the 3D case (along the z-axis)

Definition at line 91 of file math_utils.h.

distance_points2d() [1/2]

template<typename P1 , typename P2 >

double mpc_local_planner::distance_points2d ( const P1 &  point1, const P2 &  point2  )

inline

Calculate Euclidean distance between two 2D point datatypes.

Parameters

point1	object containing fields x and y
point2	object containing fields x and y

Returns

Euclidean distance: ||point2-point1||

Definition at line 76 of file math_utils.h.

distance_points2d() [2/2]

double mpc_local_planner::distance_points2d ( double  x1, double  y1, double  x2, double  y2  )

inline

Calculate Euclidean distance between two 2D points.

Definition at line 82 of file math_utils.h.

interpolate_angle()

double mpc_local_planner::interpolate_angle ( double  angle1, double  angle2, double  factor  )

inline

Return the interpolated angle between two angles [rad].

Parameters

angle1
angle2
factor	in [0,1], or (1,inf) for extrapolation

Returns

average / mean angle, that is normalized to [-pi, pi]

Definition at line 120 of file math_utils.h.

normalize_theta()

double mpc_local_planner::normalize_theta ( double  theta )

inline

normalize angle to interval [-pi, pi)

Remarks

This function is based on normalize_theta from g2o see: https://github.com/RainerKuemmerle/g2o/blob/master/g2o/stuff/misc.h

Definition at line 101 of file math_utils.h.