Edge defining the cost function for limiting the translational and rotational acceleration. More...

#include <edge_acceleration.h>

Inheritance diagram for teb_local_planner::EdgeAcceleration:

Public Member Functions
void	computeError ()
	Actual cost function. More...

	EdgeAcceleration ()
	Construct edge. More...

Public Member Functions inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
	BaseTebMultiEdge ()
	Construct edge. More...

ErrorVector &	getError ()
	Compute and return error / cost value. More...

virtual bool	read (std::istream &is)
	Read values from input stream. More...

virtual void	resize (size_t size)

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	~BaseTebMultiEdge ()
	Destruct edge. More...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebMultiEdge< 2, double >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for limiting the translational and rotational acceleration.

The edge depends on five vertices $\mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1}$ and minimizes: $\min \textrm{penaltyInterval}( [a, omegadot } ]^T ) \cdot weight$ .
a is calculated using the difference quotient (twice) and the position parts of all three poses
omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation()
penaltyInterval denotes the penalty function, see penaltyBoundToInterval()
The dimension of the error / cost vector is 2: the first component represents the translational acceleration and the second one the rotational acceleration.