Public Member Functions | Private Member Functions | Private Attributes | List of all members
teb_local_planner::PolygonRobotFootprint Class Reference

Class that approximates the robot with a closed polygon. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::PolygonRobotFootprint:
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Public Member Functions

virtual double calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
 Calculate the distance between the robot and an obstacle. More...
 
virtual double estimateSpatioTemporalDistance (const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const
 Estimate the distance between the robot and the predicted location of an obstacle at time t. More...
 
virtual double getInscribedRadius ()
 Compute the inscribed radius of the footprint model. More...
 
 PolygonRobotFootprint (const Point2dContainer &vertices)
 Default constructor of the abstract obstacle class. More...
 
void setVertices (const Point2dContainer &vertices)
 Set vertices of the contour/footprint. More...
 
virtual void visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers, const std_msgs::ColorRGBA &color) const
 Visualize the robot using a markers. More...
 
virtual ~PolygonRobotFootprint ()
 Virtual destructor. More...
 
- Public Member Functions inherited from teb_local_planner::BaseRobotFootprintModel
 BaseRobotFootprintModel ()
 Default constructor of the abstract obstacle class. More...
 
virtual ~BaseRobotFootprintModel ()
 Virtual destructor. More...
 

Private Member Functions

void transformToWorld (const PoseSE2 &current_pose, Point2dContainer &polygon_world) const
 Transforms a polygon to the world frame manually. More...
 

Private Attributes

Point2dContainer vertices_
 

Detailed Description

Class that approximates the robot with a closed polygon.

Definition at line 541 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::PolygonRobotFootprint::PolygonRobotFootprint ( const Point2dContainer vertices)
inline

Default constructor of the abstract obstacle class.

Parameters
verticesfootprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 551 of file robot_footprint_model.h.

virtual teb_local_planner::PolygonRobotFootprint::~PolygonRobotFootprint ( )
inlinevirtual

Virtual destructor.

Definition at line 556 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::PolygonRobotFootprint::calculateDistance ( const PoseSE2 current_pose,
const Obstacle obstacle 
) const
inlinevirtual

Calculate the distance between the robot and an obstacle.

Parameters
current_poseCurrent robot pose
obstaclePointer to the obstacle
Returns
Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 570 of file robot_footprint_model.h.

virtual double teb_local_planner::PolygonRobotFootprint::estimateSpatioTemporalDistance ( const PoseSE2 current_pose,
const Obstacle obstacle,
double  t 
) const
inlinevirtual

Estimate the distance between the robot and the predicted location of an obstacle at time t.

Parameters
current_poserobot pose, from which the distance to the obstacle is estimated
obstaclePointer to the dynamic obstacle (constant velocity model is assumed)
ttime, for which the predicted distance to the obstacle is calculated
Returns
Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 584 of file robot_footprint_model.h.

virtual double teb_local_planner::PolygonRobotFootprint::getInscribedRadius ( )
inlinevirtual

Compute the inscribed radius of the footprint model.

Returns
inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 634 of file robot_footprint_model.h.

void teb_local_planner::PolygonRobotFootprint::setVertices ( const Point2dContainer vertices)
inline

Set vertices of the contour/footprint.

Parameters
verticesfootprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end)

Definition at line 562 of file robot_footprint_model.h.

void teb_local_planner::PolygonRobotFootprint::transformToWorld ( const PoseSE2 current_pose,
Point2dContainer polygon_world 
) const
inlineprivate

Transforms a polygon to the world frame manually.

Parameters
current_poseCurrent robot pose
[out]polygon_worldpolygon in the world frame

Definition at line 663 of file robot_footprint_model.h.

virtual void teb_local_planner::PolygonRobotFootprint::visualizeRobot ( const PoseSE2 current_pose,
std::vector< visualization_msgs::Marker > &  markers,
const std_msgs::ColorRGBA &  color 
) const
inlinevirtual

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters
current_poseCurrent robot pose
[out]markerscontainer of marker messages describing the robot shape
colorColor of the footprint

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 600 of file robot_footprint_model.h.

Member Data Documentation

Point2dContainer teb_local_planner::PolygonRobotFootprint::vertices_
private

Definition at line 674 of file robot_footprint_model.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 3 2020 04:03:08