teb_local_planner::EdgeObstacle Class Reference

Edge defining the cost function for keeping a minimum distance from obstacles. More...

#include <edge_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeObstacle:

Public Member Functions
void	computeError ()
	Actual cost function. More...
	EdgeObstacle ()
	Construct edge. More...
void	setObstacle (const Obstacle *obstacle)
	Set pointer to associated 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< 1, 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...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 1, const Obstacle *, VertexPose >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for keeping a minimum distance from obstacles.

The edge depends on a single vertex and minimizes:
.
dist2point denotes the minimum distance to the point obstacle.
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also

TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle

Remarks

Do not forget to call setTebConfig() and setObstacle()

Definition at line 111 of file edge_obstacle.h.

Constructor & Destructor Documentation

EdgeObstacle()

teb_local_planner::EdgeObstacle::EdgeObstacle ( )

inline

Construct edge.

Definition at line 118 of file edge_obstacle.h.

Member Function Documentation

computeError()

void teb_local_planner::EdgeObstacle::computeError ( )

inline

Actual cost function.

Definition at line 126 of file edge_obstacle.h.

setObstacle()

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

inline

Set pointer to associated obstacle for the underlying cost function.

Parameters

obstacle

2D position vector containing the position of the obstacle

Definition at line 198 of file edge_obstacle.h.

setParameters()

void teb_local_planner::EdgeObstacle::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 208 of file edge_obstacle.h.

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

• edge_obstacle.h