vertex_timediff.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2016,
00006  *  TU Dortmund - Institute of Control Theory and Systems Engineering.
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of the institute nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  * 
00036  * Notes:
00037  * The following class is derived from a class defined by the
00038  * g2o-framework. g2o is licensed under the terms of the BSD License.
00039  * Refer to the base class source for detailed licensing information.
00040  *
00041  * Author: Christoph Rösmann
00042  *********************************************************************/
00043 
00044 #ifndef VERTEX_TIMEDIFF_H
00045 #define VERTEX_TIMEDIFF_H
00046 
00047 
00048 #include "g2o/config.h"
00049 #include "g2o/core/base_vertex.h"
00050 #include "g2o/core/hyper_graph_action.h"
00051 
00052 #include "ros/console.h"
00053 
00054 #include <Eigen/Core>
00055 
00056 namespace teb_local_planner
00057 {
00058 
00065 class VertexTimeDiff : public g2o::BaseVertex<1, double>
00066 {
00067 public:
00068 
00073   VertexTimeDiff(bool fixed = false)
00074   {
00075     setToOriginImpl();
00076     setFixed(fixed);
00077   }
00078   
00084   VertexTimeDiff(double dt, bool fixed = false)
00085   {
00086     _estimate = dt;
00087     setFixed(fixed);
00088   }
00089 
00093   ~VertexTimeDiff()
00094   {}
00095 
00101   double& dt() {return _estimate;}
00102   
00108   const double& dt() const {return _estimate;}
00109   
00113   virtual void setToOriginImpl()
00114   {
00115     _estimate = 0.1;
00116   }
00117 
00123   virtual void oplusImpl(const double* update)
00124   {
00125       _estimate += *update;
00126   }
00127 
00133   virtual bool read(std::istream& is)
00134   {
00135     is >> _estimate;
00136     return true;
00137   }
00138 
00144   virtual bool write(std::ostream& os) const
00145   {
00146     os << estimate();
00147     return os.good();
00148   }
00149 
00150   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00151 };
00152 
00153 }
00154 
00155 #endif


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