Implements a 2D point obstacle. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::PointObstacle:

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...

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...

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

	PointObstacle (const Eigen::Ref< const Eigen::Vector2d > &position)
	Construct PointObstacle using a 2d position vector. More...

	PointObstacle (double x, double y)
	Construct PointObstacle using x- and y-coordinates. More...

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

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...

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 Attributes
Eigen::Vector2d	pos_
	Store the position of the PointObstacle. More...

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 point obstacle.

Definition at line 341 of file obstacles.h.

Constructor & Destructor Documentation

◆ PointObstacle() [1/3]

teb_local_planner::PointObstacle::PointObstacle ( )

inline

Default constructor of the point obstacle class.

Definition at line 348 of file obstacles.h.

◆ PointObstacle() [2/3]

teb_local_planner::PointObstacle::PointObstacle ( const Eigen::Ref< const Eigen::Vector2d > & position )

inline

Construct PointObstacle using a 2d position vector.

Parameters

position 2d position that defines the current obstacle position

Definition at line 355 of file obstacles.h.

◆ PointObstacle() [3/3]

teb_local_planner::PointObstacle::PointObstacle	(	double	x,
		double	y
	)

inline

Construct PointObstacle using x- and y-coordinates.

Parameters

x	x-coordinate
y	y-coordinate

Definition at line 363 of file obstacles.h.

Member Function Documentation

◆ checkCollision()

virtual bool teb_local_planner::PointObstacle::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 368 of file obstacles.h.

◆ checkLineIntersection()

virtual bool teb_local_planner::PointObstacle::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 375 of file obstacles.h.

◆ getCentroid()

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

inlinevirtual

Get centroid coordinates of the obstacle.

Returns: Eigen::Vector2d containing the centroid

Implements teb_local_planner::Obstacle.

Definition at line 442 of file obstacles.h.

◆ getCentroidCplx()

virtual std::complex<double> teb_local_planner::PointObstacle::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 448 of file obstacles.h.

◆ getClosestPoint()

virtual Eigen::Vector2d teb_local_planner::PointObstacle::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 412 of file obstacles.h.

◆ getMinimumDistance() [1/3]

virtual double teb_local_planner::PointObstacle::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 400 of file obstacles.h.

◆ getMinimumDistance() [2/3]

virtual double teb_local_planner::PointObstacle::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 394 of file obstacles.h.

◆ getMinimumDistance() [3/3]

virtual double teb_local_planner::PointObstacle::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 406 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [1/3]

virtual double teb_local_planner::PointObstacle::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 424 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [2/3]

virtual double teb_local_planner::PointObstacle::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 418 of file obstacles.h.

◆ getMinimumSpatioTemporalDistance() [3/3]

virtual double teb_local_planner::PointObstacle::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 430 of file obstacles.h.

◆ predictCentroidConstantVelocity()

virtual void teb_local_planner::PointObstacle::predictCentroidConstantVelocity	(	double	t,
		Eigen::Ref< Eigen::Vector2d >	position
	)		const

inlinevirtual

Predict position of the centroid assuming a constant velocity model.

Parameters

[in]	t	time in seconds for the prediction (t>=0)
[out]	position	predicted 2d position of the centroid

Reimplemented from teb_local_planner::Obstacle.

Definition at line 436 of file obstacles.h.

◆ toPolygonMsg()

virtual void teb_local_planner::PointObstacle::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 462 of file obstacles.h.

Member Data Documentation

◆ pos_

Eigen::Vector2d teb_local_planner::PointObstacle::pos_

protected

Store the position of the PointObstacle.

Definition at line 472 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PointObstacle() [1/3]

◆ PointObstacle() [2/3]

◆ PointObstacle() [3/3]

Member Function Documentation

◆ checkCollision()

◆ checkLineIntersection()

◆ getCentroid()

◆ getCentroidCplx()

◆ getClosestPoint()

◆ getMinimumDistance() [1/3]

◆ getMinimumDistance() [2/3]

◆ getMinimumDistance() [3/3]

◆ getMinimumSpatioTemporalDistance() [1/3]

◆ getMinimumSpatioTemporalDistance() [2/3]

◆ getMinimumSpatioTemporalDistance() [3/3]

◆ predictCentroidConstantVelocity()

◆ toPolygonMsg()

Member Data Documentation

◆ pos_