teb_local_planner::EdgeDynamicObstacle Class Reference

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. More...

#include <edge_dynamic_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeDynamicObstacle:

Public Member Functions
void	computeError ()
	Actual cost function. More...
	EdgeDynamicObstacle ()
	Construct edge. More...
	EdgeDynamicObstacle (double t)
	Construct edge and specify the time for its associated pose (necessary for computeError). More...
void	setObstacle (const Obstacle *obstacle)
	Set Obstacle for the underlying cost function. More...
void	setParameters (const TebConfig &cfg, const Obstacle *obstacle)
	Set all parameters at once. More...
Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
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...

Protected Attributes
double	t_
	Estimated time until current pose is reached. More...
Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles.

The edge depends on two vertices and minimizes:
.
dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal).
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow().

See also

TebOptimalPlanner::AddEdgesDynamicObstacles

Remarks

Do not forget to call setTebConfig(), setVertexIdx() and

Warning

Experimental

Definition at line 112 of file edge_dynamic_obstacle.h.

Constructor & Destructor Documentation

EdgeDynamicObstacle() [1/2]

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( )

inline

Construct edge.

Definition at line 119 of file edge_dynamic_obstacle.h.

EdgeDynamicObstacle() [2/2]

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( double  t )

inline

Construct edge and specify the time for its associated pose (necessary for computeError).

Parameters

t_	Estimated time until current pose is reached

Definition at line 127 of file edge_dynamic_obstacle.h.

Member Function Documentation

computeError()

void teb_local_planner::EdgeDynamicObstacle::computeError ( )

inline

Actual cost function.

Definition at line 134 of file edge_dynamic_obstacle.h.

setObstacle()

void teb_local_planner::EdgeDynamicObstacle::setObstacle ( const Obstacle *  obstacle )

inline

Set Obstacle for the underlying cost function.

Parameters

obstacle

Const pointer to an Obstacle or derived Obstacle

Definition at line 152 of file edge_dynamic_obstacle.h.

setParameters()

void teb_local_planner::EdgeDynamicObstacle::setParameters ( const TebConfig &  cfg, const Obstacle *  obstacle  )

inline

Set all parameters at once.

Parameters

cfg	TebConfig class
obstacle	2D position vector containing the position of the obstacle

Definition at line 162 of file edge_dynamic_obstacle.h.

Member Data Documentation

t_

double teb_local_planner::EdgeDynamicObstacle::t_

protected

Estimated time until current pose is reached.

Definition at line 170 of file edge_dynamic_obstacle.h.

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

• edge_dynamic_obstacle.h