Public Member Functions | List of all members
teb_local_planner::VertexTimeDiff Class Reference

This class stores and wraps a time difference $ \Delta T $ into a vertex that can be optimized via g2o. More...

#include <vertex_timediff.h>

Inheritance diagram for teb_local_planner::VertexTimeDiff:
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Public Member Functions

double & dt ()
 Access the timediff value of the vertex. More...
 
const double & dt () const
 Access the timediff value of the vertex (read-only) More...
 
virtual void oplusImpl (const double *update)
 Define the update increment $ \Delta T_{k+1} = \Delta T_k + update $. A simple addition implements what we want. More...
 
virtual bool read (std::istream &is)
 Read an estimate of $ \Delta T $ from an input stream. More...
 
virtual void setToOriginImpl ()
 Set the underlying TimeDiff estimate $ \Delta T $ to default. More...
 
 VertexTimeDiff (bool fixed=false)
 Default constructor. More...
 
 VertexTimeDiff (double dt, bool fixed=false)
 Construct the TimeDiff vertex with a value. More...
 
virtual bool write (std::ostream &os) const
 Write the estimate $ \Delta T $ to an output stream. More...
 
 ~VertexTimeDiff ()
 Destructs the VertexTimeDiff. More...
 

Detailed Description

This class stores and wraps a time difference $ \Delta T $ into a vertex that can be optimized via g2o.

See also
VertexPointXY
VertexOrientation

Definition at line 65 of file vertex_timediff.h.

Constructor & Destructor Documentation

teb_local_planner::VertexTimeDiff::VertexTimeDiff ( bool  fixed = false)
inline

Default constructor.

Parameters
fixedif true, this vertex is considered fixed during optimization [default: false]

Definition at line 73 of file vertex_timediff.h.

teb_local_planner::VertexTimeDiff::VertexTimeDiff ( double  dt,
bool  fixed = false 
)
inline

Construct the TimeDiff vertex with a value.

Parameters
dttime difference value of the vertex
fixedif true, this vertex is considered fixed during optimization [default: false]

Definition at line 84 of file vertex_timediff.h.

teb_local_planner::VertexTimeDiff::~VertexTimeDiff ( )
inline

Destructs the VertexTimeDiff.

Definition at line 93 of file vertex_timediff.h.

Member Function Documentation

double& teb_local_planner::VertexTimeDiff::dt ( )
inline

Access the timediff value of the vertex.

See also
estimate
Returns
reference to dt

Definition at line 101 of file vertex_timediff.h.

const double& teb_local_planner::VertexTimeDiff::dt ( ) const
inline

Access the timediff value of the vertex (read-only)

See also
estimate
Returns
const reference to dt

Definition at line 108 of file vertex_timediff.h.

virtual void teb_local_planner::VertexTimeDiff::oplusImpl ( const double *  update)
inlinevirtual

Define the update increment $ \Delta T_{k+1} = \Delta T_k + update $. A simple addition implements what we want.

Parameters
updateincrement that should be added to the previous esimate

Definition at line 123 of file vertex_timediff.h.

virtual bool teb_local_planner::VertexTimeDiff::read ( std::istream &  is)
inlinevirtual

Read an estimate of $ \Delta T $ from an input stream.

Parameters
isinput stream
Returns
always true

Definition at line 133 of file vertex_timediff.h.

virtual void teb_local_planner::VertexTimeDiff::setToOriginImpl ( )
inlinevirtual

Set the underlying TimeDiff estimate $ \Delta T $ to default.

Definition at line 113 of file vertex_timediff.h.

virtual bool teb_local_planner::VertexTimeDiff::write ( std::ostream &  os) const
inlinevirtual

Write the estimate $ \Delta T $ to an output stream.

Parameters
osoutput stream
Returns
true if the export was successful, otherwise false

Definition at line 144 of file vertex_timediff.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