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

#include <edge_velocity.h>

Inheritance diagram for teb_local_planner::EdgeVelocity:

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

Detailed Description

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

The edge depends on three vertices $\mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i$ and minimizes:
$\min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight$ .
v is calculated using the difference quotient and the position parts of both poses.
omega is calculated using the difference quotient of both 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 velocity and the second one the rotational velocity.

See also:: TebOptimalPlanner::AddEdgesVelocity

Remarks:: Do not forget to call setTebConfig()

Definition at line 75 of file edge_velocity.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeVelocity::EdgeVelocity ( ) [inline]

Construct edge.

Definition at line 82 of file edge_velocity.h.

Member Function Documentation

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

Actual cost function.

Definition at line 90 of file edge_velocity.h.

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

edge_velocity.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation