teb_local_planner::EdgePreferRotDir Class Reference

Edge defining the cost function for penalzing a specified turning direction, in particular left resp. right turns. More...

#include <edge_prefer_rotdir.h>

Inheritance diagram for teb_local_planner::EdgePreferRotDir:

Public Member Functions
void	computeError ()
	Actual cost function. More...
	EdgePreferRotDir ()
	Construct edge. More...
void	preferLeft ()
void	preferRight ()
void	setRotDir (double dir)
	Specify the prefered direction of rotation. More...
Public Member Functions inherited from teb_local_planner::BaseTebBinaryEdge< 1, double, VertexPose, VertexPose >
	BaseTebBinaryEdge ()
	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	~BaseTebBinaryEdge ()
	Destruct edge. More...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebBinaryEdge< 1, double, VertexPose, VertexPose >
const TebConfig *	cfg_
	Store TebConfig class for parameters. More...

Detailed Description

Edge defining the cost function for penalzing a specified turning direction, in particular left resp. right turns.

The edge depends on two consecutive vertices and penalizes a given rotation direction based on the weight and dir ( ) dir should be +1 to prefer left rotations and -1 to prefer right rotations
weight can be set using setInformation().

See also

TebOptimalPlanner::AddEdgePreferRotDir

Definition at line 65 of file edge_prefer_rotdir.h.

Constructor & Destructor Documentation

teb_local_planner::EdgePreferRotDir::EdgePreferRotDir ( )

inline

Construct edge.

Definition at line 72 of file edge_prefer_rotdir.h.

Member Function Documentation

void teb_local_planner::EdgePreferRotDir::computeError ( )

inline

Actual cost function.

Definition at line 80 of file edge_prefer_rotdir.h.

void teb_local_planner::EdgePreferRotDir::preferLeft ( )

inline

Prefer rotations to the right

Definition at line 103 of file edge_prefer_rotdir.h.

void teb_local_planner::EdgePreferRotDir::preferRight ( )

inline

Prefer rotations to the right

Definition at line 100 of file edge_prefer_rotdir.h.

void teb_local_planner::EdgePreferRotDir::setRotDir ( double  dir )

inline

Specify the prefered direction of rotation.

Parameters

dir	+1 to prefer the left side, -1 to prefer the right side

Definition at line 94 of file edge_prefer_rotdir.h.

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

• edge_prefer_rotdir.h