Classes | Typedefs | Functions
teb_local_planner Namespace Reference

Classes

class  BaseRobotFootprintModel
 Abstract class that defines the interface for robot footprint/contour models. More...
class  BaseTebBinaryEdge
 Base edge connecting two vertices in the TEB optimization problem. More...
class  BaseTebMultiEdge
 Base edge connecting two vertices in the TEB optimization problem. More...
class  BaseTebUnaryEdge
 Base edge connecting a single vertex in the TEB optimization problem. More...
class  CircularRobotFootprint
 Class that defines the a robot of circular shape. More...
class  EdgeAcceleration
 Edge defining the cost function for limiting the translational and rotational acceleration. More...
class  EdgeAccelerationGoal
 Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. More...
class  EdgeAccelerationHolonomic
 Edge defining the cost function for limiting the translational and rotational acceleration. More...
class  EdgeAccelerationHolonomicGoal
 Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. More...
class  EdgeAccelerationHolonomicStart
 Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. More...
class  EdgeAccelerationStart
 Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. More...
class  EdgeDynamicObstacle
 Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. More...
class  EdgeInflatedObstacle
 Edge defining the cost function for keeping a minimum distance from inflated obstacles. More...
class  EdgeKinematicsCarlike
 Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot. More...
class  EdgeKinematicsDiffDrive
 Edge defining the cost function for satisfying the non-holonomic kinematics of a differential drive mobile robot. More...
class  EdgeObstacle
 Edge defining the cost function for keeping a minimum distance from obstacles. More...
class  EdgeTimeOptimal
 Edge defining the cost function for minimizing transition time of the trajectory. More...
class  EdgeVelocity
 Edge defining the cost function for limiting the translational and rotational velocity. More...
class  EdgeVelocityHolonomic
 Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta. More...
class  EdgeViaPoint
 Edge defining the cost function for pushing a configuration towards a via point. More...
class  EquivalenceClass
 Abstract class that defines an interface for computing and comparing equivalence classes. More...
struct  HcGraphVertex
 Vertex in the graph that is used to find homotopy classes (only stores 2D positions) More...
class  HomotopyClassPlanner
 Local planner that explores alternative homotopy classes, create a plan for each alternative and finally return the robot controls for the current best path (repeated in each sampling interval) More...
class  HSignature
 The H-signature defines an equivalence relation based on homology in terms of complex calculus. More...
class  LineObstacle
 Implements a 2D line obstacle. More...
class  LineRobotFootprint
 Class that approximates the robot with line segment (zero-width) More...
class  Obstacle
 Abstract class that defines the interface for modelling obstacles. More...
class  PlannerInterface
 This abstract class defines an interface for local planners. More...
class  PointObstacle
 Implements a 2D point obstacle. More...
class  PointRobotFootprint
class  PolygonObstacle
 Implements a polygon obstacle with an arbitrary number of vertices. More...
class  PolygonRobotFootprint
 Class that approximates the robot with a closed polygon. More...
class  PoseSE2
 This class implements a pose in the domain SE2: $ \mathbb{R}^2 \times S^1 $ The pose consist of the position x and y and an orientation given as angle theta [-pi, pi]. More...
class  TebConfig
 Config class for the teb_local_planner and its components. More...
class  TebLocalPlannerROS
 Implements the actual abstract navigation stack routines of the teb_local_planner plugin. More...
class  TebOptimalPlanner
 This class optimizes an internal Timed Elastic Band trajectory using the g2o-framework. More...
class  TebVisualization
 Forward Declaration. More...
class  TimedElasticBand
 Class that defines a trajectory modeled as an elastic band with augmented tempoarl information. More...
class  TwoCirclesRobotFootprint
 Class that approximates the robot with two shifted circles. More...
class  VertexPose
 This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o. More...
class  VertexTimeDiff
 This class stores and wraps a time difference $ \Delta T $ into a vertex that can be optimized via g2o. More...

Typedefs

typedef boost::adjacency_list
< boost::listS, boost::vecS,
boost::directedS,
HcGraphVertex,
boost::no_property > 		HcGraph
 Abbrev. for the homotopy class search-graph type.
typedef boost::graph_traits
< HcGraph >
::adjacency_iterator 		HcGraphAdjecencyIterator
 Abbrev. for the adjacency iterator that iterates vertices that are adjecent to the specified one.
typedef boost::graph_traits
< HcGraph >::edge_iterator 		HcGraphEdgeIterator
 Abbrev. for the edges iterator of the homotopy class search-graph.
typedef boost::graph_traits
< HcGraph >::edge_descriptor 		HcGraphEdgeType
 Abbrev. for edge type descriptors in the homotopy class search-graph.
typedef boost::graph_traits
< HcGraph >::vertex_iterator 		HcGraphVertexIterator
 Abbrev. for the vertices iterator of the homotopy class search-graph.
typedef boost::graph_traits
< HcGraph >::vertex_descriptor 		HcGraphVertexType
 Abbrev. for vertex type descriptors in the homotopy class search-graph.
typedef boost::shared_ptr
< HomotopyClassPlanner > 		HomotopyClassPlannerPtr
 Abbrev. for a shared pointer of a HomotopyClassPlanner instance.
typedef boost::shared_ptr
< const Obstacle > 		ObstacleConstPtr
 Abbrev. for shared obstacle const pointers.
typedef boost::shared_ptr
< Obstacle > 		ObstaclePtr
 Abbrev. for shared obstacle pointers.
typedef std::vector< ObstaclePtr > ObstContainer
 Abbrev. for containers storing multiple obstacles.
typedef boost::shared_ptr
< PlannerInterface > 		PlannerInterfacePtr
 Abbrev. for shared instances of PlannerInterface or it's subclasses.
typedef std::vector
< Eigen::Vector2d,
Eigen::aligned_allocator
< Eigen::Vector2d > > 		Point2dContainer
 Abbrev. for a container storing 2d points.
typedef std::vector< VertexPose * > PoseSequence
 Container of poses that represent the spatial part of the trajectory.
typedef boost::shared_ptr
< const
BaseRobotFootprintModel > 		RobotFootprintModelConstPtr
 Abbrev. for shared obstacle const pointers.
typedef boost::shared_ptr
< BaseRobotFootprintModel > 		RobotFootprintModelPtr
 Abbrev. for shared obstacle pointers.
typedef g2o::BlockSolver
< g2o::BlockSolverTraits<-1,-1 > > 		TEBBlockSolver
 Typedef for the block solver utilized for optimization.
typedef
g2o::LinearSolverCSparse
< TEBBlockSolver::PoseMatrixType > 		TEBLinearSolver
 Typedef for the linear solver utilized for optimization.
typedef boost::shared_ptr
< const TebOptimalPlanner > 		TebOptimalPlannerConstPtr
 Abbrev. for shared const TebOptimalPlanner pointers.
typedef boost::shared_ptr
< TebOptimalPlanner > 		TebOptimalPlannerPtr
 Abbrev. for shared instances of the TebOptimalPlanner.
typedef std::vector
< TebOptimalPlannerPtr > 		TebOptPlannerContainer
 Abbrev. for containers storing multiple teb optimal planners.
typedef boost::shared_ptr
< const TebVisualization > 		TebVisualizationConstPtr
 Abbrev. for shared instances of the TebVisualization (read-only)
typedef boost::shared_ptr
< TebVisualization > 		TebVisualizationPtr
 Abbrev. for shared instances of the TebVisualization.
typedef std::vector
< VertexTimeDiff * > 		TimeDiffSequence
 Container of time differences that define the temporal of the trajectory.
typedef std::vector
< Eigen::Vector2d,
Eigen::aligned_allocator
< Eigen::Vector2d > > 		ViaPointContainer
 Typedef for a container storing via-points.

Functions

double average_angles (const std::vector< double > &angles)
 Return the average angle of an arbitrary number of given angles [rad].
template<typename VectorType >
double calc_closest_point_to_approach_distance (const VectorType &x1, const VectorType &vel1, const VectorType &x2, const VectorType &vel2, double bound_cpa_time=0)
template<typename VectorType >
double calc_closest_point_to_approach_time (const VectorType &x1, const VectorType &vel1, const VectorType &x2, const VectorType &vel2)
double calc_distance_line_to_line_3d (const Eigen::Ref< const Eigen::Vector3d > &x1, Eigen::Ref< const Eigen::Vector3d > &u, const Eigen::Ref< const Eigen::Vector3d > &x2, Eigen::Ref< const Eigen::Vector3d > &v)
template<typename VectorType >
double calc_distance_point_to_line (const VectorType &point, const VectorType &line_base, const VectorType &line_dir)
template<typename VectorType >
double calc_distance_point_to_segment (const VectorType &point, const VectorType &line_start, const VectorType &line_end)
double calc_distance_segment_to_segment3D (const Eigen::Ref< const Eigen::Vector3d > &line1_start, Eigen::Ref< const Eigen::Vector3d > &line1_end, const Eigen::Ref< const Eigen::Vector3d > &line2_start, Eigen::Ref< const Eigen::Vector3d > &line2_end)
bool check_line_segments_intersection_2d (const Eigen::Ref< const Eigen::Vector2d > &line1_start, const Eigen::Ref< const Eigen::Vector2d > &line1_end, const Eigen::Ref< const Eigen::Vector2d > &line2_start, const Eigen::Ref< const Eigen::Vector2d > &line2_end, Eigen::Vector2d *intersection=NULL)
 Helper function to check whether two line segments intersects.
Eigen::Vector2d closest_point_on_line_segment_2d (const Eigen::Ref< const Eigen::Vector2d > &point, const Eigen::Ref< const Eigen::Vector2d > &line_start, const Eigen::Ref< const Eigen::Vector2d > &line_end)
 Helper function to obtain the closest point on a line segment w.r.t. a reference point.
template<typename V1 , typename V2 >
double cross2d (const V1 &v1, const V2 &v2)
 Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d)
double distance_point_to_polygon_2d (const Eigen::Vector2d &point, const Point2dContainer &vertices)
 Helper function to calculate the smallest distance between a point and a closed polygon.
double distance_point_to_segment_2d (const Eigen::Ref< const Eigen::Vector2d > &point, const Eigen::Ref< const Eigen::Vector2d > &line_start, const Eigen::Ref< const Eigen::Vector2d > &line_end)
 Helper function to calculate the distance between a line segment and a point.
template<typename P1 , typename P2 >
double distance_points2d (const P1 &point1, const P2 &point2)
 Calculate Euclidean distance between two 2D point datatypes.
double distance_polygon_to_polygon_2d (const Point2dContainer &vertices1, const Point2dContainer &vertices2)
 Helper function to calculate the smallest distance between two closed polygons.
double distance_segment_to_polygon_2d (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, const Point2dContainer &vertices)
 Helper function to calculate the smallest distance between a line segment and a closed polygon.
double distance_segment_to_segment_2d (const Eigen::Ref< const Eigen::Vector2d > &line1_start, const Eigen::Ref< const Eigen::Vector2d > &line1_end, const Eigen::Ref< const Eigen::Vector2d > &line2_start, const Eigen::Ref< const Eigen::Vector2d > &line2_end)
 Helper function to calculate the smallest distance between two line segments.
double fast_sigmoid (double x)
 Calculate a fast approximation of a sigmoid function.
template<typename T >
const T & get_const_reference (const T *ptr)
 Helper function that returns the const reference to a value defined by either its raw pointer type or const reference.
template<typename T >
const T & get_const_reference (const T &val, typename boost::disable_if< boost::is_pointer< T > >::type *dummy=0)
 Helper function that returns the const reference to a value defined by either its raw pointer type or const reference.
std::complex< long double > getCplxFromHcGraph (HcGraphVertexType vert_descriptor, const HcGraph &graph)
 Inline function used for calculateHSignature() in combination with HCP graph vertex descriptors.
std::complex< long double > getCplxFromMsgPoseStamped (const geometry_msgs::PoseStamped &pose)
 Inline function used for calculateHSignature() in combination with geometry_msgs::PoseStamped.
std::complex< long double > getCplxFromVertexPosePtr (const VertexPose *pose)
 < Inline function used for calculateHSignature() in combination with VertexPose pointers
const Eigen::Vector2d & getVector2dFromHcGraph (HcGraphVertexType vert_descriptor, const HcGraph &graph)
 Inline function used for initializing the TEB in combination with HCP graph vertex descriptors.
bool is_close (double a, double b, double epsilon=1e-4)
 Check whether two variables (double) are close to each other.
double penaltyBoundFromBelow (const double &var, const double &a, const double &epsilon)
 Linear penalty function for bounding var from below: $ a < var $.
double penaltyBoundFromBelowDerivative (const double &var, const double &a, const double &epsilon)
 Derivative of the linear penalty function for bounding var from below: $ a < var $.
double penaltyBoundToInterval (const double &var, const double &a, const double &epsilon)
 Linear penalty function for bounding var to the interval $ -a < var < a $.
double penaltyBoundToInterval (const double &var, const double &a, const double &b, const double &epsilon)
 Linear penalty function for bounding var to the interval $ a < var < b $.
double penaltyBoundToIntervalDerivative (const double &var, const double &a, const double &epsilon)
 Derivative of the linear penalty function for bounding var to the interval $ -a < var < a $.
double penaltyBoundToIntervalDerivative (const double &var, const double &a, const double &b, const double &epsilon)
 Derivative of the linear penalty function for bounding var to the interval $ a < var < b $.
bool smaller_than_abs (double i, double j)
 Small helper function: check if |a|<|b|.

Typedef Documentation

typedef boost::adjacency_list< boost::listS, boost::vecS, boost::directedS, HcGraphVertex, boost::no_property > teb_local_planner::HcGraph

Abbrev. for the homotopy class search-graph type.

See also:
HcGraphVertex

Definition at line 95 of file homotopy_class_planner.h.

typedef boost::graph_traits<HcGraph>::adjacency_iterator teb_local_planner::HcGraphAdjecencyIterator

Abbrev. for the adjacency iterator that iterates vertices that are adjecent to the specified one.

Definition at line 105 of file homotopy_class_planner.h.

typedef boost::graph_traits<HcGraph>::edge_iterator teb_local_planner::HcGraphEdgeIterator

Abbrev. for the edges iterator of the homotopy class search-graph.

Definition at line 103 of file homotopy_class_planner.h.

typedef boost::graph_traits<HcGraph>::edge_descriptor teb_local_planner::HcGraphEdgeType

Abbrev. for edge type descriptors in the homotopy class search-graph.

Definition at line 99 of file homotopy_class_planner.h.

typedef boost::graph_traits<HcGraph>::vertex_iterator teb_local_planner::HcGraphVertexIterator

Abbrev. for the vertices iterator of the homotopy class search-graph.

Definition at line 101 of file homotopy_class_planner.h.

typedef boost::graph_traits<HcGraph>::vertex_descriptor teb_local_planner::HcGraphVertexType

Abbrev. for vertex type descriptors in the homotopy class search-graph.

Definition at line 97 of file homotopy_class_planner.h.

typedef boost::shared_ptr<HomotopyClassPlanner> teb_local_planner::HomotopyClassPlannerPtr

Abbrev. for a shared pointer of a HomotopyClassPlanner instance.

Definition at line 593 of file homotopy_class_planner.h.

typedef boost::shared_ptr<const Obstacle> teb_local_planner::ObstacleConstPtr

Abbrev. for shared obstacle const pointers.

Definition at line 205 of file obstacles.h.

typedef boost::shared_ptr<Obstacle> teb_local_planner::ObstaclePtr

Abbrev. for shared obstacle pointers.

Definition at line 203 of file obstacles.h.

typedef std::vector<ObstaclePtr> teb_local_planner::ObstContainer

Abbrev. for containers storing multiple obstacles.

Definition at line 207 of file obstacles.h.

typedef boost::shared_ptr<PlannerInterface> teb_local_planner::PlannerInterfacePtr

Abbrev. for shared instances of PlannerInterface or it's subclasses.

Definition at line 195 of file planner_interface.h.

typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > teb_local_planner::Point2dContainer

Abbrev. for a container storing 2d points.

Definition at line 50 of file distance_calculations.h.

typedef std::vector<VertexPose*> teb_local_planner::PoseSequence

Container of poses that represent the spatial part of the trajectory.

Definition at line 63 of file timed_elastic_band.h.

typedef boost::shared_ptr<const BaseRobotFootprintModel> teb_local_planner::RobotFootprintModelConstPtr

Abbrev. for shared obstacle const pointers.

Definition at line 112 of file robot_footprint_model.h.

typedef boost::shared_ptr<BaseRobotFootprintModel> teb_local_planner::RobotFootprintModelPtr

Abbrev. for shared obstacle pointers.

Definition at line 110 of file robot_footprint_model.h.

typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > teb_local_planner::TEBBlockSolver

Typedef for the block solver utilized for optimization.

Definition at line 84 of file optimal_planner.h.

typedef g2o::LinearSolverCSparse<TEBBlockSolver::PoseMatrixType> teb_local_planner::TEBLinearSolver

Typedef for the linear solver utilized for optimization.

Definition at line 87 of file optimal_planner.h.

typedef boost::shared_ptr<const TebOptimalPlanner> teb_local_planner::TebOptimalPlannerConstPtr

Abbrev. for shared const TebOptimalPlanner pointers.

Definition at line 686 of file optimal_planner.h.

typedef boost::shared_ptr<TebOptimalPlanner> teb_local_planner::TebOptimalPlannerPtr

Abbrev. for shared instances of the TebOptimalPlanner.

Definition at line 684 of file optimal_planner.h.

typedef std::vector< TebOptimalPlannerPtr > teb_local_planner::TebOptPlannerContainer

Abbrev. for containers storing multiple teb optimal planners.

Definition at line 688 of file optimal_planner.h.

typedef boost::shared_ptr<const TebVisualization> teb_local_planner::TebVisualizationConstPtr

Abbrev. for shared instances of the TebVisualization (read-only)

Definition at line 251 of file visualization.h.

typedef boost::shared_ptr<TebVisualization> teb_local_planner::TebVisualizationPtr

Abbrev. for shared instances of the TebVisualization.

Definition at line 248 of file visualization.h.

typedef std::vector<VertexTimeDiff*> teb_local_planner::TimeDiffSequence

Container of time differences that define the temporal of the trajectory.

Definition at line 65 of file timed_elastic_band.h.

typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > teb_local_planner::ViaPointContainer

Typedef for a container storing via-points.

Definition at line 91 of file optimal_planner.h.

Function Documentation

double teb_local_planner::average_angles ( const std::vector< double > &  angles) [inline]

Return the average angle of an arbitrary number of given angles [rad].

Parameters:
anglesvector containing all angles
Returns:
average / mean angle, that is normalized to [-pi, pi]

Definition at line 72 of file misc.h.

template<typename VectorType >
double teb_local_planner::calc_closest_point_to_approach_distance ( const VectorType &  x1,
const VectorType &  vel1,
const VectorType &  x2,
const VectorType &  vel2,
double  bound_cpa_time = 0 
)

Definition at line 408 of file distance_calculations.h.

template<typename VectorType >
double teb_local_planner::calc_closest_point_to_approach_time ( const VectorType &  x1,
const VectorType &  vel1,
const VectorType &  x2,
const VectorType &  vel2 
)

Definition at line 393 of file distance_calculations.h.

double teb_local_planner::calc_distance_line_to_line_3d ( const Eigen::Ref< const Eigen::Vector3d > &  x1,
Eigen::Ref< const Eigen::Vector3d > &  u,
const Eigen::Ref< const Eigen::Vector3d > &  x2,
Eigen::Ref< const Eigen::Vector3d > &  v 
) [inline]

Definition at line 278 of file distance_calculations.h.

template<typename VectorType >
double teb_local_planner::calc_distance_point_to_line ( const VectorType &  point,
const VectorType &  line_base,
const VectorType &  line_dir 
)

Definition at line 424 of file distance_calculations.h.

template<typename VectorType >
double teb_local_planner::calc_distance_point_to_segment ( const VectorType &  point,
const VectorType &  line_start,
const VectorType &  line_end 
)

Definition at line 442 of file distance_calculations.h.

double teb_local_planner::calc_distance_segment_to_segment3D ( const Eigen::Ref< const Eigen::Vector3d > &  line1_start,
Eigen::Ref< const Eigen::Vector3d > &  line1_end,
const Eigen::Ref< const Eigen::Vector3d > &  line2_start,
Eigen::Ref< const Eigen::Vector3d > &  line2_end 
) [inline]

Definition at line 310 of file distance_calculations.h.

bool teb_local_planner::check_line_segments_intersection_2d ( const Eigen::Ref< const Eigen::Vector2d > &  line1_start,
const Eigen::Ref< const Eigen::Vector2d > &  line1_end,
const Eigen::Ref< const Eigen::Vector2d > &  line2_start,
const Eigen::Ref< const Eigen::Vector2d > &  line2_end,
Eigen::Vector2d *  intersection = NULL 
) [inline]

Helper function to check whether two line segments intersects.

Parameters:
line1_start2D point representing the start of the first line segment
line1_end2D point representing the end of the first line segment
line2_start2D point representing the start of the second line segment
line2_end2D point representing the end of the second line segment
[out]intersection[optional] Write intersection point to destination (the value is only written, if both lines intersect, e.g. if the function returns true)
Returns:
true if both line segments intersect

Definition at line 97 of file distance_calculations.h.

Eigen::Vector2d teb_local_planner::closest_point_on_line_segment_2d ( const Eigen::Ref< const Eigen::Vector2d > &  point,
const Eigen::Ref< const Eigen::Vector2d > &  line_start,
const Eigen::Ref< const Eigen::Vector2d > &  line_end 
) [inline]

Helper function to obtain the closest point on a line segment w.r.t. a reference point.

Parameters:
point2D point
line_start2D point representing the start of the line segment
line_end2D point representing the end of the line segment
Returns:
Closest point on the line segment

Definition at line 60 of file distance_calculations.h.

template<typename V1 , typename V2 >
double teb_local_planner::cross2d ( const V1 &  v1,
const V2 &  v2 
) [inline]

Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d)

Parameters:
v1object containing public methods x() and y()
v2object containing fields x() and y()
Returns:
magnitude that would result in the 3D case (along the z-axis)

Definition at line 120 of file misc.h.

double teb_local_planner::distance_point_to_polygon_2d ( const Eigen::Vector2d &  point,
const Point2dContainer &  vertices 
) [inline]

Helper function to calculate the smallest distance between a point and a closed polygon.

Parameters:
point2D point
verticesVertices describing the closed polygon (the first vertex is not repeated at the end)
Returns:
smallest distance between point and polygon

Definition at line 165 of file distance_calculations.h.

double teb_local_planner::distance_point_to_segment_2d ( const Eigen::Ref< const Eigen::Vector2d > &  point,
const Eigen::Ref< const Eigen::Vector2d > &  line_start,
const Eigen::Ref< const Eigen::Vector2d > &  line_end 
) [inline]

Helper function to calculate the distance between a line segment and a point.

Parameters:
point2D point
line_start2D point representing the start of the line segment
line_end2D point representing the end of the line segment
Returns:
minimum distance to a given line segment

Definition at line 83 of file distance_calculations.h.

template<typename P1 , typename P2 >
double teb_local_planner::distance_points2d ( const P1 &  point1,
const P2 &  point2 
) [inline]

Calculate Euclidean distance between two 2D point datatypes.

Parameters:
point1object containing fields x and y
point2object containing fields x and y
Returns:
Euclidean distance: ||point2-point1||

Definition at line 107 of file misc.h.

double teb_local_planner::distance_polygon_to_polygon_2d ( const Point2dContainer &  vertices1,
const Point2dContainer &  vertices2 
) [inline]

Helper function to calculate the smallest distance between two closed polygons.

Parameters:
vertices1Vertices describing the first closed polygon (the first vertex is not repeated at the end)
vertices2Vertices describing the second closed polygon (the first vertex is not repeated at the end)
Returns:
smallest distance between point and polygon

Definition at line 236 of file distance_calculations.h.

double teb_local_planner::distance_segment_to_polygon_2d ( const Eigen::Vector2d &  line_start,
const Eigen::Vector2d &  line_end,
const Point2dContainer &  vertices 
) [inline]

Helper function to calculate the smallest distance between a line segment and a closed polygon.

Parameters:
line_start2D point representing the start of the line segment
line_end2D point representing the end of the line segment
verticesVertices describing the closed polygon (the first vertex is not repeated at the end)
Returns:
smallest distance between point and polygon

Definition at line 201 of file distance_calculations.h.

double teb_local_planner::distance_segment_to_segment_2d ( const Eigen::Ref< const Eigen::Vector2d > &  line1_start,
const Eigen::Ref< const Eigen::Vector2d > &  line1_end,
const Eigen::Ref< const Eigen::Vector2d > &  line2_start,
const Eigen::Ref< const Eigen::Vector2d > &  line2_end 
) [inline]

Helper function to calculate the smallest distance between two line segments.

Parameters:
line1_start2D point representing the start of the first line segment
line1_end2D point representing the end of the first line segment
line2_start2D point representing the start of the second line segment
line2_end2D point representing the end of the second line segment
Returns:
smallest distance between both segments

Definition at line 138 of file distance_calculations.h.

double teb_local_planner::fast_sigmoid ( double  x) [inline]

Calculate a fast approximation of a sigmoid function.

The following function is implemented: $ x / (1 + |x|) $

Parameters:
xthe argument of the function

Definition at line 95 of file misc.h.

template<typename T >
const T& teb_local_planner::get_const_reference ( const T *  ptr) [inline]

Helper function that returns the const reference to a value defined by either its raw pointer type or const reference.

Return a constant reference for boths input variants (pointer or reference).

Remarks:
Makes only sense in combination with the overload getConstReference(const T& val).
Parameters:
ptrpointer of type T
Template Parameters:
Tarbitrary type
Returns:
If T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion

Definition at line 135 of file misc.h.

template<typename T >
const T& teb_local_planner::get_const_reference ( const T &  val,
typename boost::disable_if< boost::is_pointer< T > >::type *  dummy = 0 
) [inline]

Helper function that returns the const reference to a value defined by either its raw pointer type or const reference.

Return a constant reference for boths input variants (pointer or reference).

Remarks:
Makes only sense in combination with the overload getConstReference(const T* val).
Parameters:
val
dummySFINAE helper variable
Template Parameters:
Tarbitrary type
Returns:
If T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion

Definition at line 148 of file misc.h.

std::complex<long double> teb_local_planner::getCplxFromHcGraph ( HcGraphVertexType  vert_descriptor,
const HcGraph &  graph 
) [inline]

Inline function used for calculateHSignature() in combination with HCP graph vertex descriptors.

Definition at line 51 of file homotopy_class_planner.cpp.

std::complex<long double> teb_local_planner::getCplxFromMsgPoseStamped ( const geometry_msgs::PoseStamped &  pose) [inline]

Inline function used for calculateHSignature() in combination with geometry_msgs::PoseStamped.

Definition at line 63 of file homotopy_class_planner.cpp.

std::complex<long double> teb_local_planner::getCplxFromVertexPosePtr ( const VertexPose *  pose) [inline]

< Inline function used for calculateHSignature() in combination with VertexPose pointers

Definition at line 45 of file homotopy_class_planner.cpp.

const Eigen::Vector2d& teb_local_planner::getVector2dFromHcGraph ( HcGraphVertexType  vert_descriptor,
const HcGraph &  graph 
) [inline]

Inline function used for initializing the TEB in combination with HCP graph vertex descriptors.

Definition at line 57 of file homotopy_class_planner.cpp.

bool teb_local_planner::is_close ( double  a,
double  b,
double  epsilon = 1e-4 
) [inline]

Check whether two variables (double) are close to each other.

Parameters:
athe first value to compare
bthe second value to compare
epsilonprecision threshold
Returns:
true if |a-b| < epsilon, false otherwise

Definition at line 62 of file misc.h.

double teb_local_planner::penaltyBoundFromBelow ( const double &  var,
const double &  a,
const double &  epsilon 
) [inline]

Linear penalty function for bounding var from below: $ a < var $.

Parameters:
varThe scalar that should be bounded
alower bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundFromBelowDerivative
Returns:
Penalty / cost value that is nonzero if the constraint is not satisfied

Definition at line 107 of file penalties.h.

double teb_local_planner::penaltyBoundFromBelowDerivative ( const double &  var,
const double &  a,
const double &  epsilon 
) [inline]

Derivative of the linear penalty function for bounding var from below: $ a < var $.

Parameters:
varThe scalar that should be bounded
alower bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundFromBelow
Returns:
Derivative of the penalty function w.r.t. var

Definition at line 177 of file penalties.h.

double teb_local_planner::penaltyBoundToInterval ( const double &  var,
const double &  a,
const double &  epsilon 
) [inline]

Linear penalty function for bounding var to the interval $ -a < var < a $.

Parameters:
varThe scalar that should be bounded
alower and upper absolute bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundToIntervalDerivative
Returns:
Penalty / cost value that is nonzero if the constraint is not satisfied

Definition at line 57 of file penalties.h.

double teb_local_planner::penaltyBoundToInterval ( const double &  var,
const double &  a,
const double &  b,
const double &  epsilon 
) [inline]

Linear penalty function for bounding var to the interval $ a < var < b $.

Parameters:
varThe scalar that should be bounded
alower bound
bupper bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundToIntervalDerivative
Returns:
Penalty / cost value that is nonzero if the constraint is not satisfied

Definition at line 82 of file penalties.h.

double teb_local_planner::penaltyBoundToIntervalDerivative ( const double &  var,
const double &  a,
const double &  epsilon 
) [inline]

Derivative of the linear penalty function for bounding var to the interval $ -a < var < a $.

Parameters:
varThe scalar that should be bounded
alower and upper absolute bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundToInterval
Returns:
Derivative of the penalty function w.r.t. var

Definition at line 127 of file penalties.h.

double teb_local_planner::penaltyBoundToIntervalDerivative ( const double &  var,
const double &  a,
const double &  b,
const double &  epsilon 
) [inline]

Derivative of the linear penalty function for bounding var to the interval $ a < var < b $.

Parameters:
varThe scalar that should be bounded
alower bound
bupper bound
epsilonsafty margin (move bound to the interior of the interval)
See also:
penaltyBoundToInterval
Returns:
Derivative of the penalty function w.r.t. var

Definition at line 152 of file penalties.h.

bool teb_local_planner::smaller_than_abs ( double  i,
double  j 
) [inline]

Small helper function: check if |a|<|b|.

Definition at line 87 of file misc.h.


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Sat Jun 8 2019 20:21:34