Edge defining the cost function for minimizing transition time of the trajectory. More...

#include <edge_time_optimal.h>

Inheritance diagram for teb_local_planner::EdgeTimeOptimal:

Public Member Functions
void	computeError ()
	Actual cost function. More...

	EdgeTimeOptimal ()
	Construct edge. More...

Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 1, double, VertexTimeDiff >
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, double, VertexTimeDiff >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for minimizing transition time of the trajectory.

The edge depends on a single vertex $\Delta T_i$ and minimizes:
$\min \Delta T_i^2 \cdot scale \cdot weight$ .
scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it.
weight can be set using setInformation() (something around 1.0 seems to be fine).