#include <simple_trajectory_generator.h>

Inheritance diagram for base_local_planner::SimpleTrajectoryGenerator:

Public Member Functions
bool	generateTrajectory (Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f sample_target_vel, base_local_planner::Trajectory &traj)
bool	hasMoreTrajectories ()
void	initialise (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, const Eigen::Vector3f &goal, base_local_planner::LocalPlannerLimits *limits, const Eigen::Vector3f &vsamples, std::vector< Eigen::Vector3f > additional_samples, bool discretize_by_time=false)
void	initialise (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, const Eigen::Vector3f &goal, base_local_planner::LocalPlannerLimits *limits, const Eigen::Vector3f &vsamples, bool discretize_by_time=false)
bool	nextTrajectory (Trajectory &traj)
void	setParameters (double sim_time, double sim_granularity, double angular_sim_granularity, bool use_dwa=false, double sim_period=0.0)
	SimpleTrajectoryGenerator ()
	~SimpleTrajectoryGenerator ()
Static Public Member Functions
static Eigen::Vector3f	computeNewPositions (const Eigen::Vector3f &pos, const Eigen::Vector3f &vel, double dt)
static Eigen::Vector3f	computeNewVelocities (const Eigen::Vector3f &sample_target_vel, const Eigen::Vector3f &vel, Eigen::Vector3f acclimits, double dt)
Protected Attributes
double	angular_sim_granularity_
bool	continued_acceleration_
bool	discretize_by_time_
base_local_planner::LocalPlannerLimits *	limits_
unsigned int	next_sample_index_
Eigen::Vector3f	pos_
std::vector< Eigen::Vector3f >	sample_params_
double	sim_granularity_
double	sim_period_
double	sim_time_
bool	use_dwa_
Eigen::Vector3f	vel_

Detailed Description

generates trajectories based on equi-distant discretisation of the degrees of freedom. This is supposed to be a simple and robust implementation of the TrajectorySampleGenerator interface, more efficient implementations are thinkable.

This can be used for both dwa and trajectory rollout approaches. As an example, assuming these values: sim_time = 1s, sim_period=200ms, dt = 200ms, vsamples_x=5, acc_limit_x = 1m/s^2, vel_x=0 (robot at rest, values just for easy calculations) dwa_planner will sample max-x-velocities from 0m/s to 0.2m/s. trajectory rollout approach will sample max-x-velocities 0m/s up to 1m/s trajectory rollout approach does so respecting the acceleration limit, so it gradually increases velocity

Definition at line 61 of file simple_trajectory_generator.h.

Constructor & Destructor Documentation

base_local_planner::SimpleTrajectoryGenerator::SimpleTrajectoryGenerator ( ) [inline]

Definition at line 64 of file simple_trajectory_generator.h.

base_local_planner::SimpleTrajectoryGenerator::~SimpleTrajectoryGenerator ( ) [inline]

Definition at line 68 of file simple_trajectory_generator.h.

Member Function Documentation

Eigen::Vector3f base_local_planner::SimpleTrajectoryGenerator::computeNewPositions	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	vel,
		double	dt
	)		`[static]`

Definition at line 253 of file simple_trajectory_generator.cpp.

Eigen::Vector3f base_local_planner::SimpleTrajectoryGenerator::computeNewVelocities	(	const Eigen::Vector3f &	sample_target_vel,
		const Eigen::Vector3f &	vel,
		Eigen::Vector3f	acclimits,
		double	dt
	)		`[static]`

cheange vel using acceleration limits to converge towards sample_target-vel

Definition at line 265 of file simple_trajectory_generator.cpp.

bool base_local_planner::SimpleTrajectoryGenerator::generateTrajectory	(	Eigen::Vector3f	pos,
		Eigen::Vector3f	vel,
		Eigen::Vector3f	sample_target_vel,
		base_local_planner::Trajectory &	traj
	)

Parameters:

pos	current position of robot
vel	desired velocity for sampling

Definition at line 180 of file simple_trajectory_generator.cpp.

bool base_local_planner::SimpleTrajectoryGenerator::hasMoreTrajectories ( ) [virtual]

Whether this generator can create more trajectories

Implements base_local_planner::TrajectorySampleGenerator.

Definition at line 154 of file simple_trajectory_generator.cpp.

void base_local_planner::SimpleTrajectoryGenerator::initialise	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	vel,
		const Eigen::Vector3f &	goal,
		base_local_planner::LocalPlannerLimits *	limits,
		const Eigen::Vector3f &	vsamples,
		std::vector< Eigen::Vector3f >	additional_samples,
		bool	discretize_by_time = `false`
	)

Parameters:

pos	current robot position
vel	current robot velocity
limits	Current velocity limits
vsamples,:	in how many samples to divide the given dimension
use_acceleration_limits,:	if true use physical model, else idealized robot model
additional_samples	(deprecated): Additional velocity samples to generate individual trajectories from.
discretize_by_time	if true, the trajectory is split according in chunks of the same duration, else of same length

Definition at line 46 of file simple_trajectory_generator.cpp.

void base_local_planner::SimpleTrajectoryGenerator::initialise	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	vel,
		const Eigen::Vector3f &	goal,
		base_local_planner::LocalPlannerLimits *	limits,
		const Eigen::Vector3f &	vsamples,
		bool	discretize_by_time = `false`
	)

Parameters:

pos	current robot position
vel	current robot velocity
limits	Current velocity limits
vsamples,:	in how many samples to divide the given dimension
use_acceleration_limits,:	if true use physical model, else idealized robot model
discretize_by_time	if true, the trajectory is split according in chunks of the same duration, else of same length

Definition at line 60 of file simple_trajectory_generator.cpp.

bool base_local_planner::SimpleTrajectoryGenerator::nextTrajectory ( Trajectory & comp_traj ) [virtual]

Whether this generator can create more trajectories

Create and return the next sample trajectory

Implements base_local_planner::TrajectorySampleGenerator.

Definition at line 161 of file simple_trajectory_generator.cpp.

void base_local_planner::SimpleTrajectoryGenerator::setParameters	(	double	sim_time,
		double	sim_granularity,
		double	angular_sim_granularity,
		bool	use_dwa = `false`,
		double	sim_period = `0.0`
	)

This function is to be called only when parameters change

Parameters:

sim_granularity	granularity of collision detection
angular_sim_granularity	angular granularity of collision detection
use_dwa	whether to use DWA or trajectory rollout
sim_period	distance between points in one trajectory

Definition at line 137 of file simple_trajectory_generator.cpp.