Abstract class that defines the interface for modelling obstacles. More...

#include <obstacles.h>

Inheritance diagram for teb_local_planner::Obstacle:

Public Member Functions
	Obstacle ()
	Default constructor of the abstract obstacle class.
virtual	~Obstacle ()
	Virtual destructor.
Centroid coordinates (abstract, obstacle type depending)
virtual const Eigen::Vector2d &	getCentroid () const =0
	Get centroid coordinates of the obstacle.
virtual std::complex< double >	getCentroidCplx () const =0
	Get centroid coordinates of the obstacle as complex number.
Collision checking and distance calculations (abstract, obstacle type depending)
virtual bool	checkCollision (const Eigen::Vector2d &position, double min_dist) const =0
	Check if a given point collides with the obstacle.
virtual bool	checkLineIntersection (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist=0) const =0
	Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance `min_dist`)
virtual double	getMinimumDistance (const Eigen::Vector2d &position) const =0
	Get the minimum euclidean distance to the obstacle (point as reference)
virtual double	getMinimumDistance (const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const =0
	Get the minimum euclidean distance to the obstacle (line as reference)
virtual double	getMinimumDistance (const Point2dContainer &polygon) const =0
	Get the minimum euclidean distance to the obstacle (polygon as reference)
virtual Eigen::Vector2d	getClosestPoint (const Eigen::Vector2d &position) const =0
	Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.
Velocity related methods for non-static, moving obstacles
bool	isDynamic () const
	Check if the obstacle is a moving with a (non-zero) velocity.
void	setCentroidVelocity (const Eigen::Ref< const Eigen::Vector2d > &vel)
	Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid.
const Eigen::Vector2d &	getCentroidVelocity () const
	Get the obstacle velocity (vx, vy) (w.r.t. to the centroid)
Helper Functions
virtual void	toPolygonMsg (geometry_msgs::Polygon &polygon)=0
	Convert the obstacle to a polygon message.
Protected Attributes
Eigen::Vector2d	centroid_velocity_
	Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is `true`)
bool	dynamic_
	Store flag if obstacle is dynamic (resp. a moving obstacle)

Detailed Description

Abstract class that defines the interface for modelling obstacles.

Definition at line 61 of file obstacles.h.

Constructor & Destructor Documentation

teb_local_planner::Obstacle::Obstacle ( ) [inline]

Default constructor of the abstract obstacle class.

Definition at line 68 of file obstacles.h.

virtual teb_local_planner::Obstacle::~Obstacle ( ) [inline, virtual]

Virtual destructor.

Definition at line 75 of file obstacles.h.

Member Function Documentation

virtual bool teb_local_planner::Obstacle::checkCollision	(	const Eigen::Vector2d &	position,
		double	min_dist
	)		const `[pure virtual]`

Check if a given point collides with the obstacle.

Parameters:

position	2D reference position that should be checked
min_dist	Minimum distance allowed to the obstacle to be collision free

Returns:: true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual bool teb_local_planner::Obstacle::checkLineIntersection	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end,
		double	min_dist = `0`
	)		const `[pure virtual]`

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters:

line_start	2D point for the end of the reference line
line_end	2D point for the end of the reference line
min_dist	Minimum distance allowed to the obstacle to be collision/intersection free

Returns:: true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual const Eigen::Vector2d& teb_local_planner::Obstacle::getCentroid ( ) const [pure virtual]

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual std::complex<double> teb_local_planner::Obstacle::getCentroidCplx ( ) const [pure virtual]

Get centroid coordinates of the obstacle as complex number.

Returns:: std::complex containing the centroid coordinate

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

const Eigen::Vector2d& teb_local_planner::Obstacle::getCentroidVelocity ( ) const [inline]

Get the obstacle velocity (vx, vy) (w.r.t. to the centroid)

Returns:: 2D vector containing the velocities of the centroid in x and y directions

Definition at line 171 of file obstacles.h.

virtual Eigen::Vector2d teb_local_planner::Obstacle::getClosestPoint ( const Eigen::Vector2d & position ) const [pure virtual]

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters:

position reference 2d position

Returns:: closest point on the obstacle boundary

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance ( const Eigen::Vector2d & position ) const [pure virtual]

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters:

position 2d reference position

Returns:: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance	(	const Eigen::Vector2d &	line_start,
		const Eigen::Vector2d &	line_end
	)		const `[pure virtual]`

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters:

line_start	2d position of the begin of the reference line
line_end	2d position of the end of the reference line

Returns:: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

virtual double teb_local_planner::Obstacle::getMinimumDistance ( const Point2dContainer & polygon ) const [pure virtual]

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters:

polygon Vertices (2D points) describing a closed polygon

Returns:: The nearest possible distance to the obstacle

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

bool teb_local_planner::Obstacle::isDynamic ( ) const [inline]

Check if the obstacle is a moving with a (non-zero) velocity.

Returns:: true if the obstacle is not marked as static, false otherwise

Definition at line 158 of file obstacles.h.

void teb_local_planner::Obstacle::setCentroidVelocity ( const Eigen::Ref< const Eigen::Vector2d > & vel ) [inline]

Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid.

Remarks:: Setting the velocity using this function marks the obstacle as dynamic (

See also:: isDynamic)

Parameters:

vel	2D vector containing the velocities of the centroid in x and y directions

Definition at line 165 of file obstacles.h.

virtual void teb_local_planner::Obstacle::toPolygonMsg ( geometry_msgs::Polygon & polygon ) [pure virtual]

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters:

[out] polygon the polygon message

Implemented in teb_local_planner::PolygonObstacle, teb_local_planner::LineObstacle, and teb_local_planner::PointObstacle.

Member Data Documentation

Eigen::Vector2d teb_local_planner::Obstacle::centroid_velocity_ [protected]

Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is true)

Definition at line 195 of file obstacles.h.

bool teb_local_planner::Obstacle::dynamic_ [protected]

Store flag if obstacle is dynamic (resp. a moving obstacle)

Definition at line 194 of file obstacles.h.

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

obstacles.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation