Edge defining the cost function for limiting the translational and rotational acceleration. More...

#include <edge_acceleration.h>

Inheritance diagram for teb_local_planner::EdgeAcceleration:

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeAcceleration ()
	Construct edge.

Detailed Description

Edge defining the cost function for limiting the translational and rotational acceleration.

The edge depends on five vertices $\mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1}$ and minimizes: $\min \textrm{penaltyInterval}( [a, omegadot } ]^T ) \cdot weight$ .
a is calculated using the difference quotient (twice) and the position parts of all three poses
omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation()
penaltyInterval denotes the penalty function, see penaltyBoundToInterval()
The dimension of the error / cost vector is 2: the first component represents the translational acceleration and the second one the rotational acceleration.

See also:: TebOptimalPlanner::AddEdgesAcceleration; EdgeAccelerationStart; EdgeAccelerationGoal

Remarks:: Do not forget to call setTebConfig(); Refer to EdgeAccelerationStart() and EdgeAccelerationGoal() for defining boundary values!

Definition at line 78 of file edge_acceleration.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeAcceleration::EdgeAcceleration ( ) [inline]

Construct edge.

Definition at line 85 of file edge_acceleration.h.

Member Function Documentation

void teb_local_planner::EdgeAcceleration::computeError ( ) [inline]

Actual cost function.

Definition at line 93 of file edge_acceleration.h.

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

edge_acceleration.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation