#include <graph_search.h>
Public Member Functions | |
| virtual void | createGraph (const PoseSE2 &start, const PoseSE2 &goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist *start_velocity) |
| Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal. More... | |
| ProbRoadmapGraph (const TebConfig &cfg, HomotopyClassPlanner *hcp) | |
| virtual | ~ProbRoadmapGraph () |
 Public Member Functions inherited from teb_local_planner::GraphSearchInterface | |
| void | clearGraph () |
| Clear any existing graph of the homotopy class search. More... | |
Private Attributes | |
| boost::random::mt19937 | rnd_generator_ |
| Random number generator used by createProbRoadmapGraph to sample graph keypoints. More... | |
Additional Inherited Members | |
| Public Attributes inherited from teb_local_planner::GraphSearchInterface | |
| HcGraph | graph_ |
| Store the graph that is utilized to find alternative homotopy classes. More... | |
| Protected Member Functions inherited from teb_local_planner::GraphSearchInterface | |
| void | DepthFirst (HcGraph &g, std::vector< HcGraphVertexType > &visited, const HcGraphVertexType &goal, double start_orientation, double goal_orientation, const geometry_msgs::Twist *start_velocity) |
| Depth First Search implementation to find all paths between the start and the specified goal vertex. More... | |
| GraphSearchInterface (const TebConfig &cfg, HomotopyClassPlanner *hcp) | |
| Protected constructor that should be called by subclasses. More... | |
| Protected Attributes inherited from teb_local_planner::GraphSearchInterface | |
| const TebConfig * | cfg_ |
| Config class that stores and manages all related parameters. More... | |
| HomotopyClassPlanner *const | hcp_ |
| Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. More... | |
Detailed Description
Definition at line 181 of file graph_search.h.
Constructor & Destructor Documentation
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inline |
Definition at line 184 of file graph_search.h.
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inlinevirtual |
Definition at line 186 of file graph_search.h.
Member Function Documentation
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virtual |
Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal.
This version of the graph samples keypoints in a predefined area (config) in the current frame between start and goal.
Afterwards all feasible paths between start and goal point are extracted using a Depth First Search.
Use the sampling method for complex, non-point or huge obstacles.
You may call createGraph() instead.
- See also
- createGraph
- Parameters
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start Start pose from wich to start on (e.g. the current robot pose). goal Goal pose to find paths to (e.g. the robot's goal). dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). no_samples number of random samples obstacle_heading_threshold Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1] start_velocity start velocity (optional)
Find all paths between start and goal!
Implements teb_local_planner::GraphSearchInterface.
Definition at line 219 of file graph_search.cpp.
Member Data Documentation
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private |
Random number generator used by createProbRoadmapGraph to sample graph keypoints.
Definition at line 208 of file graph_search.h.
The documentation for this class was generated from the following files: