Base edge connecting a single vertex in the TEB optimization problem. More...
#include <base_teb_edges.h>
Public Member Functions | |
BaseTebUnaryEdge () | |
Construct edge. More... | |
ErrorVector & | getError () |
Compute and return error / cost value. More... | |
virtual bool | read (std::istream &is) |
Read values from input stream. More... | |
void | setTebConfig (const TebConfig &cfg) |
Assign the TebConfig class for parameters. More... | |
virtual bool | write (std::ostream &os) const |
Write values to an output stream. More... | |
virtual | ~BaseTebUnaryEdge () |
Destruct edge. More... | |
Protected Attributes | |
const TebConfig * | cfg_ |
Store TebConfig class for parameters. More... | |
Base edge connecting a single vertex in the TEB optimization problem.
This edge defines a base edge type for the TEB optimization problem. It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. Memory of edges should be freed by calling the clearEdge method of the g2o optimzier class.
Definition at line 70 of file base_teb_edges.h.
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inline |
Construct edge.
Definition at line 80 of file base_teb_edges.h.
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inlinevirtual |
Destruct edge.
We need to erase vertices manually, since we want to keep them even if TebOptimalPlanner::clearGraph() is called. This is necessary since the vertices are managed by the Timed_Elastic_Band class.
Definition at line 91 of file base_teb_edges.h.
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inline |
Compute and return error / cost value.
This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.
Definition at line 103 of file base_teb_edges.h.
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inlinevirtual |
Read values from input stream.
Definition at line 112 of file base_teb_edges.h.
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inline |
Assign the TebConfig class for parameters.
cfg | TebConfig class |
Definition at line 131 of file base_teb_edges.h.
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inlinevirtual |
Write values to an output stream.
Definition at line 121 of file base_teb_edges.h.
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protected |
Store TebConfig class for parameters.
Definition at line 141 of file base_teb_edges.h.