edge_time_optimal.h

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 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *     with the distribution.
 *   * Neither the name of the institute nor the names of its
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 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * Notes:
 * The following class is derived from a class defined by the
 * g2o-framework. g2o is licensed under the terms of the BSD License.
 * Refer to the base class source for detailed licensing information.
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 * Author: Christoph Rösmann
 *********************************************************************/
 
#ifndef EDGE_TIMEOPTIMAL_H_
#define EDGE_TIMEOPTIMAL_H_
 
#include <float.h>
 
#include <base_local_planner/BaseLocalPlannerConfig.h>
 
#include <teb_local_planner/g2o_types/vertex_timediff.h>
#include <teb_local_planner/g2o_types/base_teb_edges.h>
#include <teb_local_planner/g2o_types/penalties.h>
#include <teb_local_planner/teb_config.h>
 
#include <Eigen/Core>
 
namespace teb_local_planner
{
 
  
class EdgeTimeOptimal : public BaseTebUnaryEdge<1, double, VertexTimeDiff>
{
public:
    
  EdgeTimeOptimal()
  {
    this->setMeasurement(0.);
  }
  
  void computeError()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()");
    const VertexTimeDiff* timediff = static_cast<const VertexTimeDiff*>(_vertices[0]);
 
   _error[0] = timediff->dt();
  
    ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeTimeOptimal::computeError() _error[0]=%f\n",_error[0]);
  }
 
#ifdef USE_ANALYTIC_JACOBI
 
  void linearizeOplus()
  {
    ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()");
    _jacobianOplusXi( 0 , 0 ) = 1;
  }
#endif
  
  
public:        
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
}; // end namespace
 
#endif /* EDGE_TIMEOPTIMAL_H_ */