Implements a 2D pill/stadium/capsular-shaped obstacle (line + distance/radius) More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::PillObstacle:

Public Member Functions
virtual bool	checkCollision (const Eigen::Vector2d &point, double min_dist) const
	Check if a given point collides with the obstacle. More...

virtual bool	checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const
	Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance `min_dist`) More...

const Eigen::Vector2d &	end () const

virtual const Eigen::Vector2d &	getCentroid () const
	Get centroid coordinates of the obstacle. More...

virtual std::complex< double >	getCentroidCplx () const
	Get centroid coordinates of the obstacle as complex number. More...

virtual Eigen::Vector2d	getClosestPoint (const Eigen::Vector2d &position) const
	Get the closest point on the boundary of the obstacle w.r.t. a specified reference position. More...

virtual double	getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const
	Get the minimum euclidean distance to the obstacle (line as reference) More...

virtual double	getMinimumDistance (const Eigen::Vector2d &position) const
	Get the minimum euclidean distance to the obstacle (point as reference) More...

virtual double	getMinimumDistance (const Point2dContainer &polygon) const
	Get the minimum euclidean distance to the obstacle (polygon as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Eigen::Vector2d &position, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference) More...

virtual double	getMinimumSpatioTemporalDistance (const Point2dContainer &polygon, double t) const
	Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference) More...

	PillObstacle ()
	Default constructor of the point obstacle class. More...

	PillObstacle (const Eigen::Ref< const Eigen::Vector2d > &line_start, const Eigen::Ref< const Eigen::Vector2d > &line_end, double radius)
	Construct LineObstacle using 2d position vectors as start and end of the line. More...

	PillObstacle (double x1, double y1, double x2, double y2, double radius)
	Construct LineObstacle using start and end coordinates. More...

void	setEnd (const Eigen::Ref< const Eigen::Vector2d > &end)

void	setStart (const Eigen::Ref< const Eigen::Vector2d > &start)

const Eigen::Vector2d &	start () const

virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)
	Convert the obstacle to a polygon message. More...

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

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

virtual void	predictCentroidConstantVelocity (double t, Eigen::Ref< Eigen::Vector2d > position) const
	Predict position of the centroid assuming a constant velocity model. More...

bool	isDynamic () const
	Check if the obstacle is a moving with a (non-zero) velocity. More...

void	setCentroidVelocity (const Eigen::Ref< const Eigen::Vector2d > &vel)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::Quaternion &orientation)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid. More...

void	setCentroidVelocity (const geometry_msgs::TwistWithCovariance &velocity, const geometry_msgs::QuaternionStamped &orientation)

const Eigen::Vector2d &	getCentroidVelocity () const
	Get the obstacle velocity (vx, vy) (w.r.t. to the centroid) More...

virtual void	toTwistWithCovarianceMsg (geometry_msgs::TwistWithCovariance &twistWithCovariance)

Protected Member Functions
void	calcCentroid ()

Private Attributes
Eigen::Vector2d	centroid_

Eigen::Vector2d	end_

double	radius_ = 0.0

Eigen::Vector2d	start_

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::Obstacle
bool	dynamic_
	Store flag if obstacle is dynamic (resp. a moving obstacle) More...

Eigen::Vector2d	centroid_velocity_
	Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is `true`) More...

Detailed Description

Implements a 2D pill/stadium/capsular-shaped obstacle (line + distance/radius)

Definition at line 782 of file obstacles.h.

Constructor & Destructor Documentation

◆ PillObstacle() [1/3]

teb_local_planner::PillObstacle::PillObstacle ( )

inline

Default constructor of the point obstacle class.

Definition at line 789 of file obstacles.h.

◆ PillObstacle() [2/3]

teb_local_planner::PillObstacle::PillObstacle	(	const Eigen::Ref< const Eigen::Vector2d > &	line_start,
		const Eigen::Ref< const Eigen::Vector2d > &	line_end,
		double	radius
	)

inline

Construct LineObstacle using 2d position vectors as start and end of the line.

Parameters

line_start	2d position that defines the start of the line obstacle
line_end	2d position that defines the end of the line obstacle

Definition at line 801 of file obstacles.h.

◆ PillObstacle() [3/3]

teb_local_planner::PillObstacle::PillObstacle	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		double	radius
	)

inline

Construct LineObstacle using start and end coordinates.

Parameters

x1	x-coordinate of the start of the line
y1	y-coordinate of the start of the line
x2	x-coordinate of the end of the line
y2	y-coordinate of the end of the line

Definition at line 814 of file obstacles.h.

Member Function Documentation

◆ calcCentroid()

void teb_local_planner::PillObstacle::calcCentroid ( )

inlineprotected

Definition at line 914 of file obstacles.h.

◆ checkCollision()

virtual bool teb_local_planner::PillObstacle::checkCollision	(	const Eigen::Vector2d &	position,
		double	min_dist
	)		const

inlinevirtual

Check if a given point collides with the obstacle.

Parameters

position	2D reference position that should be checked
min_dist	Minimum distance allowed to the obstacle to be collision free

Returns: true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 824 of file obstacles.h.

◆ checkLineIntersection()

virtual bool teb_local_planner::PillObstacle::checkLineIntersection	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	min_dist = `0`
	)		const

inlinevirtual

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Returns: true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implements teb_local_planner::Obstacle.

Definition at line 830 of file obstacles.h.

◆ end()

const Eigen::Vector2d& teb_local_planner::PillObstacle::end ( ) const

inline

Definition at line 896 of file obstacles.h.

◆ getCentroid()

virtual const Eigen::Vector2d& teb_local_planner::PillObstacle::getCentroid ( ) const

inlinevirtual

Get centroid coordinates of the obstacle.

Returns: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 882 of file obstacles.h.

◆ getCentroidCplx()

virtual std::complex<double> teb_local_planner::PillObstacle::getCentroidCplx ( ) const

inlinevirtual

Get centroid coordinates of the obstacle as complex number.

Returns: std::complex containing the centroid coordinate

Implements teb_local_planner::Obstacle.

Definition at line 888 of file obstacles.h.

◆ getClosestPoint()

virtual Eigen::Vector2d teb_local_planner::PillObstacle::getClosestPoint ( const Eigen::Vector2d & position ) const

inlinevirtual

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters

position reference 2d position

Returns: closest point on the obstacle boundary

Implements teb_local_planner::Obstacle.

Definition at line 854 of file obstacles.h.

◆ getMinimumDistance() [1/3]

virtual double teb_local_planner::PillObstacle::getMinimumDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		const

inlinevirtual

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 842 of file obstacles.h.

◆ getMinimumDistance() [2/3]

virtual double teb_local_planner::PillObstacle::getMinimumDistance ( const Eigen::Vector2d & position ) const

inlinevirtual

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters

position 2d reference position

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 836 of file obstacles.h.

◆ getMinimumDistance() [3/3]

virtual double teb_local_planner::PillObstacle::getMinimumDistance ( const Point2dContainer & polygon ) const

inlinevirtual

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters

polygon Vertices (2D points) describing a closed polygon

Returns: The nearest possible distance to the obstacle

Implements teb_local_planner::Obstacle.

Definition at line 848 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [1/3]

virtual double teb_local_planner::PillObstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference)

Parameters

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 868 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [2/3]

virtual double teb_local_planner::PillObstacle::getMinimumSpatioTemporalDistance	(	const Eigen::Vector2d &	position,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference)

Parameters

position	2d reference position
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 861 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [3/3]

virtual double teb_local_planner::PillObstacle::getMinimumSpatioTemporalDistance	(	const Point2dContainer &	polygon,
		double	t
	)		const

inlinevirtual

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference)

Parameters

polygon	Vertices (2D points) describing a closed polygon
t	time, for which the minimum distance to the obstacle is estimated

Returns: The nearest possible distance to the obstacle at time t

Implements teb_local_planner::Obstacle.

Definition at line 875 of file obstacles.h.

◆ setEnd()

void teb_local_planner::PillObstacle::setEnd ( const Eigen::Ref< const Eigen::Vector2d > & end )

inline

Definition at line 897 of file obstacles.h.

◆ setStart()

void teb_local_planner::PillObstacle::setStart ( const Eigen::Ref< const Eigen::Vector2d > & start )

inline

Definition at line 895 of file obstacles.h.

◆ start()

const Eigen::Vector2d& teb_local_planner::PillObstacle::start ( ) const

inline

Definition at line 894 of file obstacles.h.

◆ toPolygonMsg()

virtual void teb_local_planner::PillObstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon )

inlinevirtual

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters

[out] polygon the polygon message

Implements teb_local_planner::Obstacle.

Definition at line 900 of file obstacles.h.

Member Data Documentation

◆ centroid_

Eigen::Vector2d teb_local_planner::PillObstacle::centroid_

private

Definition at line 921 of file obstacles.h.

◆ end_

Eigen::Vector2d teb_local_planner::PillObstacle::end_

private

Definition at line 918 of file obstacles.h.

◆ radius_

double teb_local_planner::PillObstacle::radius_ = 0.0

private

Definition at line 919 of file obstacles.h.

◆ start_

Eigen::Vector2d teb_local_planner::PillObstacle::start_

private

Definition at line 917 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PillObstacle() [1/3]

◆ PillObstacle() [2/3]

◆ PillObstacle() [3/3]

Member Function Documentation

◆ calcCentroid()

◆ checkCollision()

◆ checkLineIntersection()

◆ end()

◆ getCentroid()

◆ getCentroidCplx()

◆ getClosestPoint()

◆ getMinimumDistance() [1/3]

◆ getMinimumDistance() [2/3]

◆ getMinimumDistance() [3/3]

◆ getMinimumSpatioTemporalDistance() [1/3]

◆ getMinimumSpatioTemporalDistance() [2/3]

◆ getMinimumSpatioTemporalDistance() [3/3]

◆ setEnd()

◆ setStart()

◆ start()

◆ toPolygonMsg()

Member Data Documentation

◆ centroid_

◆ end_

◆ radius_

◆ start_