teb_local_planner::PointRobotFootprint Class Reference

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::PointRobotFootprint:

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...
	PointRobotFootprint ()
	Default constructor of the abstract obstacle class. More...
	PointRobotFootprint (const double min_obstacle_dist)
	Default constructor of the abstract obstacle class. 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	~PointRobotFootprint ()
	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 Attributes
const double	min_obstacle_dist_ = 0.0

Detailed Description

Definition at line 170 of file robot_footprint_model.h.

Constructor & Destructor Documentation

PointRobotFootprint() [1/2]

teb_local_planner::PointRobotFootprint::PointRobotFootprint ( )

inline

Default constructor of the abstract obstacle class.

Definition at line 177 of file robot_footprint_model.h.

PointRobotFootprint() [2/2]

teb_local_planner::PointRobotFootprint::PointRobotFootprint ( const double  min_obstacle_dist )

inline

Default constructor of the abstract obstacle class.

Parameters

min_obstacle_dist

Minimum obstacle distance

Definition at line 183 of file robot_footprint_model.h.

~PointRobotFootprint()

virtual teb_local_planner::PointRobotFootprint::~PointRobotFootprint ( )

inlinevirtual

Virtual destructor.

Definition at line 188 of file robot_footprint_model.h.

Member Function Documentation

calculateDistance()

virtual double teb_local_planner::PointRobotFootprint::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 196 of file robot_footprint_model.h.

estimateSpatioTemporalDistance()

virtual double teb_local_planner::PointRobotFootprint::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 208 of file robot_footprint_model.h.

getInscribedRadius()

virtual double teb_local_planner::PointRobotFootprint::getInscribedRadius ( )

inlinevirtual

Compute the inscribed radius of the footprint model.

Returns

inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 217 of file robot_footprint_model.h.

visualizeRobot()

virtual void teb_local_planner::PointRobotFootprint::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 228 of file robot_footprint_model.h.

Member Data Documentation

min_obstacle_dist_

const double teb_local_planner::PointRobotFootprint::min_obstacle_dist_ = 0.0

private

Definition at line 264 of file robot_footprint_model.h.

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

• robot_footprint_model.h