Class that approximates the robot with line segment (zero-width) More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::LineRobotFootprint:

Public Member Functions
virtual double	calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
	Calculate the distance between the robot and an obstacle. More...

virtual double	estimateSpatioTemporalDistance (const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const
	Estimate the distance between the robot and the predicted location of an obstacle at time t. More...

virtual double	getInscribedRadius ()
	Compute the inscribed radius of the footprint model. More...

	LineRobotFootprint (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, const double min_obstacle_dist)
	Default constructor of the abstract obstacle class (Eigen Version) More...

	LineRobotFootprint (const geometry_msgs::Point &line_start, const geometry_msgs::Point &line_end)
	Default constructor of the abstract obstacle class. More...

void	setLine (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end)
	Set vertices of the contour/footprint (Eigen version) More...

void	setLine (const geometry_msgs::Point &line_start, const geometry_msgs::Point &line_end)
	Set vertices of the contour/footprint. More...

virtual void	visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers, const std_msgs::ColorRGBA &color) const
	Visualize the robot using a markers. More...

virtual	~LineRobotFootprint ()
	Virtual destructor. More...

Public Member Functions inherited from teb_local_planner::BaseRobotFootprintModel
	BaseRobotFootprintModel ()
	Default constructor of the abstract obstacle class. More...

virtual	~BaseRobotFootprintModel ()
	Virtual destructor. More...

Private Member Functions
void	transformToWorld (const PoseSE2 &current_pose, Eigen::Vector2d &line_start_world, Eigen::Vector2d &line_end_world) const
	Transforms a line to the world frame manually. More...

Private Attributes
Eigen::Vector2d	line_end_

Eigen::Vector2d	line_start_

const double	min_obstacle_dist_ = 0.0

Detailed Description

Class that approximates the robot with line segment (zero-width)

Definition at line 475 of file robot_footprint_model.h.

Constructor & Destructor Documentation

◆ LineRobotFootprint() [1/2]

teb_local_planner::LineRobotFootprint::LineRobotFootprint	(	const geometry_msgs::Point &	line_start,
		const geometry_msgs::Point &	line_end
	)

inline

Default constructor of the abstract obstacle class.

Parameters

line_start	start coordinates (only x and y) of the line (w.r.t. robot center at (0,0))
line_end	end coordinates (only x and y) of the line (w.r.t. robot center at (0,0))

Definition at line 484 of file robot_footprint_model.h.

◆ LineRobotFootprint() [2/2]

teb_local_planner::LineRobotFootprint::LineRobotFootprint	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		const double	min_obstacle_dist
	)

inline

Default constructor of the abstract obstacle class (Eigen Version)

Parameters

line_start	start coordinates (only x and y) of the line (w.r.t. robot center at (0,0))
line_end	end coordinates (only x and y) of the line (w.r.t. robot center at (0,0))

Definition at line 494 of file robot_footprint_model.h.

◆ ~LineRobotFootprint()

virtual teb_local_planner::LineRobotFootprint::~LineRobotFootprint ( )

inlinevirtual

Virtual destructor.

Definition at line 502 of file robot_footprint_model.h.

Member Function Documentation

◆ calculateDistance()

virtual double teb_local_planner::LineRobotFootprint::calculateDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle
	)		const

inlinevirtual

Calculate the distance between the robot and an obstacle.

Parameters

current_pose	Current robot pose
obstacle	Pointer to the obstacle

Returns: Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 532 of file robot_footprint_model.h.

◆ estimateSpatioTemporalDistance()

virtual double teb_local_planner::LineRobotFootprint::estimateSpatioTemporalDistance	(	const PoseSE2 &	current_pose,
		const Obstacle *	obstacle,
		double	t
	)		const

inlinevirtual

Estimate the distance between the robot and the predicted location of an obstacle at time t.

Parameters

current_pose	robot pose, from which the distance to the obstacle is estimated
obstacle	Pointer to the dynamic obstacle (constant velocity model is assumed)
t	time, for which the predicted distance to the obstacle is calculated

Returns: Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 547 of file robot_footprint_model.h.

◆ getInscribedRadius()

virtual double teb_local_planner::LineRobotFootprint::getInscribedRadius ( )

inlinevirtual

Compute the inscribed radius of the footprint model.

Returns: inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 633 of file robot_footprint_model.h.

◆ setLine() [1/2]

void teb_local_planner::LineRobotFootprint::setLine	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)

inline

Set vertices of the contour/footprint (Eigen version)

Parameters

vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 520 of file robot_footprint_model.h.

◆ setLine() [2/2]

void teb_local_planner::LineRobotFootprint::setLine	(	const geometry_msgs::Point &	line_start,
		const geometry_msgs::Point &	line_end
	)

inline

Set vertices of the contour/footprint.

Parameters

vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 508 of file robot_footprint_model.h.

◆ transformToWorld()

void teb_local_planner::LineRobotFootprint::transformToWorld	(	const PoseSE2 &	current_pose,
		Eigen::Vector2d &	line_start_world,
		Eigen::Vector2d &	line_end_world
	)		const

inlineprivate

Transforms a line to the world frame manually.

Parameters

	current_pose	Current robot pose
[out]	line_start	line_start_ in the world frame
[out]	line_end	line_end_ in the world frame

Definition at line 646 of file robot_footprint_model.h.

◆ visualizeRobot()

virtual void teb_local_planner::LineRobotFootprint::visualizeRobot	(	const PoseSE2 &	current_pose,
		std::vector< visualization_msgs::Marker > &	markers,
		const std_msgs::ColorRGBA &	color
	)		const

inlinevirtual

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters

	current_pose	Current robot pose
[out]	markers	container of marker messages describing the robot shape
	color	Color of the footprint

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 564 of file robot_footprint_model.h.

Member Data Documentation

◆ line_end_

Eigen::Vector2d teb_local_planner::LineRobotFootprint::line_end_

private

Definition at line 657 of file robot_footprint_model.h.

◆ line_start_

Eigen::Vector2d teb_local_planner::LineRobotFootprint::line_start_

private

Definition at line 656 of file robot_footprint_model.h.

◆ min_obstacle_dist_

const double teb_local_planner::LineRobotFootprint::min_obstacle_dist_ = 0.0

private

Definition at line 658 of file robot_footprint_model.h.

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

robot_footprint_model.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LineRobotFootprint() [1/2]

◆ LineRobotFootprint() [2/2]

◆ ~LineRobotFootprint()

Member Function Documentation

◆ calculateDistance()

◆ estimateSpatioTemporalDistance()

◆ getInscribedRadius()

◆ setLine() [1/2]

◆ setLine() [2/2]

◆ transformToWorld()

◆ visualizeRobot()

Member Data Documentation

◆ line_end_

◆ line_start_

◆ min_obstacle_dist_