teb_local_planner::HSignature Class Reference

The H-signature defines an equivalence relation based on homology in terms of complex calculus. More...

#include <equivalence_relations.h>

Inheritance diagram for teb_local_planner::HSignature:

List of all members.

Public Member Functions
template<typename BidirIter , typename Fun >
void	calculateHSignature (BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer *obstacles)
	Calculate the H-Signature of a path.
	HSignature (const TebConfig &cfg)
	Constructor accepting a TebConfig.
virtual bool	isEqual (const EquivalenceClass &other) const
	Check if two candidate classes are equivalent.
virtual bool	isValid () const
	Check if the equivalence value is detected correctly.
Private Attributes
const TebConfig *	cfg_
std::complex< long double >	hsignature_

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Detailed Description

The H-signature defines an equivalence relation based on homology in terms of complex calculus.

The H-Signature depends on the obstacle configuration and can be utilized to check whether two trajectores belong to the same homology class. Refer to:

• S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010

Definition at line 112 of file equivalence_relations.h.

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Constructor & Destructor Documentation

teb_local_planner::HSignature::HSignature

(

const TebConfig &

cfg

)

[inline]

Constructor accepting a TebConfig.

Parameters:

cfg	TebConfig storing some user configuration options

Definition at line 121 of file equivalence_relations.h.

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Member Function Documentation

template<typename BidirIter , typename Fun >

void teb_local_planner::HSignature::calculateHSignature	(	BidirIter	path_start,
		BidirIter	path_end,
		Fun	fun_cplx_point,
		const ObstContainer *	obstacles
	)		[inline]

Calculate the H-Signature of a path.

The implemented function accepts generic path descriptions that are restricted to the following structure:
The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...).
Provide a unary function with the following signature std::complex< long double > (const T& point_type) that returns a complex value for the position (Re(*)=x, Im(*)=y).

T could also be a pointer type, if the passed function also accepts a const T* point_Type.

Parameters:

path_start	Iterator to the first element in the path
path_end	Iterator to the last element in the path
obstacles	obstacle container
fun_cplx_point	function accepting the dereference iterator type and that returns the position as complex number.

Template Parameters:

BidirIter	Bidirectional iterator type
Fun	function of the form std::complex< long double > (const T& point_type)

Returns:

complex H-Signature value

Definition at line 143 of file equivalence_relations.h.

virtual bool teb_local_planner::HSignature::isEqual

(

const EquivalenceClass &

other

)

const [inline, virtual]

Check if two candidate classes are equivalent.

Parameters:

other

The other equivalence class to test with

Implements teb_local_planner::EquivalenceClass.

Definition at line 241 of file equivalence_relations.h.

virtual bool teb_local_planner::HSignature::isValid

(

)

const [inline, virtual]

Check if the equivalence value is detected correctly.

Returns:

Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur.

Implements teb_local_planner::EquivalenceClass.

Definition at line 261 of file equivalence_relations.h.

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Member Data Documentation

const TebConfig* teb_local_planner::HSignature::cfg_ [private]

Definition at line 269 of file equivalence_relations.h.

std::complex<long double> teb_local_planner::HSignature::hsignature_ [private]

Definition at line 270 of file equivalence_relations.h.

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

• equivalence_relations.h