edge_dynamic_obstacle.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * Notes:
 * The following class is derived from a class defined by the
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 * Author: Christoph Rösmann, Franz Albers
 *********************************************************************/
 
#ifndef EDGE_DYNAMICOBSTACLE_H
#define EDGE_DYNAMICOBSTACLE_H
 
#include <teb_local_planner/g2o_types/vertex_pose.h>
#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/penalties.h>
#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/obstacles.h>
#include <teb_local_planner/teb_config.h>
#include <teb_local_planner/robot_footprint_model.h>
 
namespace teb_local_planner
{
  
class EdgeDynamicObstacle : public BaseTebUnaryEdge<2, const Obstacle*, VertexPose>
{
public:
  
  EdgeDynamicObstacle() : t_(0)
  {
  }
  
  EdgeDynamicObstacle(double t) : t_(t)
  {
  }
  
  void computeError()
  {
    ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setObstacle() on EdgeDynamicObstacle()");
    const VertexPose* bandpt = static_cast<const VertexPose*>(_vertices[0]);
    
    double dist = cfg_->robot_model->estimateSpatioTemporalDistance(bandpt->pose(), _measurement, t_);
 
    _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon);
    _error[1] = penaltyBoundFromBelow(dist, cfg_->obstacles.dynamic_obstacle_inflation_dist, 0.0);
 
    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeDynamicObstacle::computeError() _error[0]=%f\n",_error[0]);
  }
  
  
  void setObstacle(const Obstacle* obstacle)
  {
    _measurement = obstacle;
  }
  
  void setParameters(const TebConfig& cfg, const Obstacle* obstacle)
  {
    cfg_ = &cfg;
    _measurement = obstacle;
  }
 
protected:
  
  double t_; 
  
public: 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
};
 
 
} // end namespace
 
#endif