Dynamic window approach. More...

#include <dynamic_window.hpp>

Public Member Functions
tuple< bool, vec >	control (const GridMap &grid, const vec &x0, const vec &vb, const mat &xt_ref, double dt_ref) const
	Compose best control. More...

tuple< bool, vec >	control (const GridMap &grid, const vec &x0, const vec &vb, const vec &vref) const
	Compose best control. More...

	DynamicWindow (const Collision &collision, double dt, double horizon, double acc_dt, double acc_lim_x, double acc_lim_y, double acc_lim_th, double max_vel_x, double min_vel_x, double max_vel_y, double min_vel_y, double max_rot_vel, double min_rot_vel, unsigned int vx_samples, unsigned int vy_samples, unsigned int vth_samples)
	Constructor. More...

double	horizon () const
	return control horizon More...

unsigned int	steps () const
	return number of steps in horizon More...

double	timeStep () const
	return time step More...

Private Member Functions
double	objective (const GridMap &grid, const vec &x0, const vec &u, const mat &xt_ref, double tf) const
	Objective function for reference trajectory. More...

double	objective (const GridMap &grid, const vec &x0, const vec &vref, const vec &u) const
	Objective function for reference twist. More...

tuple< vec, vec >	window (const vec &vb) const
	Compose window size and discretization. More...

Private Attributes
double	acc_dt_

double	acc_lim_th_

double	acc_lim_x_

double	acc_lim_y_

Collision	collision_

double	dt_

double	horizon_

double	max_rot_vel_

double	max_vel_x_

double	max_vel_y_

double	min_rot_vel_

double	min_vel_x_

double	min_vel_y_

unsigned int	steps_

unsigned int	vth_samples_

unsigned int	vx_samples_

unsigned int	vy_samples_

Detailed Description

Dynamic window approach.

Definition at line 52 of file dynamic_window.hpp.

Constructor & Destructor Documentation

◆ DynamicWindow()

ergodic_exploration::DynamicWindow::DynamicWindow	(	const Collision &	collision,
		double	dt,
		double	horizon,
		double	acc_dt,
		double	acc_lim_x,
		double	acc_lim_y,
		double	acc_lim_th,
		double	max_vel_x,
		double	min_vel_x,
		double	max_vel_y,
		double	min_vel_y,
		double	max_rot_vel,
		double	min_rot_vel,
		unsigned int	vx_samples,
		unsigned int	vy_samples,
		unsigned int	vth_samples
	)

Constructor.

Parameters

collision	- collision detector
dt	- time step in integration
horizon	- control horizon
acc_dt	- time acceleration limit is applied for determining window limits
acc_lim_x	- x acceleration limit
acc_lim_y	- y acceleration limit
acc_lim_th	- rotational acceleration limit
max_vel_x	- max x velocity
min_vel_x	- min x velocity
max_vel_y	- max y velocity
min_vel_y	- min y velocity
max_rot_vel	- max rotational velocity
min_rot_vel	- min rotational velocity
vx_samples	- number of x velocity samples
vy_samples	- number of y velocity samples
vth_samples	- number of rotational velocity samples

Given a reference control finds the closest collision free control

Definition at line 46 of file dynamic_window.cpp.

Member Function Documentation

◆ control() [1/2]

tuple< bool, vec > ergodic_exploration::DynamicWindow::control	(	const GridMap &	grid,
		const vec &	x0,
		const vec &	vb,
		const mat &	xt_ref,
		double	dt_ref
	)		const

Compose best control.

Parameters

grid	- grid map
x0	- current state [x, y, theta]
vb	- current twist [vx, vy, w]
xt_ref	- reference trajectory
dt_ref	- reference trajectory time discretization

Returns: true if at least one solution is found and optimal twist [vx, vy, w]

u_opt is set to zeros if no solution found

Definition at line 141 of file dynamic_window.cpp.

◆ control() [2/2]

tuple< bool, vec > ergodic_exploration::DynamicWindow::control	(	const GridMap &	grid,
		const vec &	x0,
		const vec &	vb,
		const vec &	vref
	)		const

Compose best control.

Parameters

grid	- grid map
x0	- current state [x, y, theta]
vb	- current twist [vx, vy, w]
vref	- desired twist to follow [vx, vy, w]

Returns: true if at least 1 solution found and optimal twist [vx, vy, w]

u_opt is set to zeros if no solution found

Definition at line 92 of file dynamic_window.cpp.

◆ horizon()

double ergodic_exploration::DynamicWindow::horizon ( ) const

inline

return control horizon

Definition at line 113 of file dynamic_window.hpp.

◆ objective() [1/2]

double ergodic_exploration::DynamicWindow::objective	(	const GridMap &	grid,
		const vec &	x0,
		const vec &	u,
		const mat &	xt_ref,
		double	tf
	)		const

private

Objective function for reference trajectory.

Parameters

grid	- grid map
x0	- current state [x, y, theta]
u	- twist from dynamic window
xt_ref	- reference trajectory
tf	- reference trajectory length in time

Returns: cost of the current sampled twist

Finds best twist that generates a path closest to the reference trajectory that is collision free. If there is a collision the cost is the max numerical value for a double.

Definition at line 258 of file dynamic_window.cpp.

◆ objective() [2/2]

double ergodic_exploration::DynamicWindow::objective	(	const GridMap &	grid,
		const vec &	x0,
		const vec &	vref,
		const vec &	u
	)		const

private

Objective function for reference twist.

Parameters

grid	- grid map
x0	- current state [x, y, theta]
vref	- desired twist to follow [vx, vy, w]
u	- twist from dynamic window

Returns: cost of the current sampled twist

Finds best twist to reference twist that is collision free. If there is a collision the cost is the max numerical value for a double.

Definition at line 237 of file dynamic_window.cpp.

◆ steps()

unsigned int ergodic_exploration::DynamicWindow::steps ( ) const

inline

return number of steps in horizon

Definition at line 119 of file dynamic_window.hpp.

◆ timeStep()

double ergodic_exploration::DynamicWindow::timeStep ( ) const

inline

return time step

Definition at line 107 of file dynamic_window.hpp.

◆ window()

tuple< vec, vec > ergodic_exploration::DynamicWindow::window ( const vec & vb ) const

private

Compose window size and discretization.

Parameters

vb	- current twist [vx, vy, w]

Returns: twist lower limits and twist discretization

Definition at line 193 of file dynamic_window.cpp.

Member Data Documentation

◆ acc_dt_

double ergodic_exploration::DynamicWindow::acc_dt_

private

Definition at line 164 of file dynamic_window.hpp.

◆ acc_lim_th_

double ergodic_exploration::DynamicWindow::acc_lim_th_

private

Definition at line 165 of file dynamic_window.hpp.

◆ acc_lim_x_

double ergodic_exploration::DynamicWindow::acc_lim_x_

private

Definition at line 165 of file dynamic_window.hpp.

◆ acc_lim_y_

double ergodic_exploration::DynamicWindow::acc_lim_y_

private

Definition at line 165 of file dynamic_window.hpp.

◆ collision_

Collision ergodic_exploration::DynamicWindow::collision_

private

Definition at line 161 of file dynamic_window.hpp.

◆ dt_

double ergodic_exploration::DynamicWindow::dt_

private

Definition at line 162 of file dynamic_window.hpp.

◆ horizon_

double ergodic_exploration::DynamicWindow::horizon_

private

Definition at line 163 of file dynamic_window.hpp.

◆ max_rot_vel_

double ergodic_exploration::DynamicWindow::max_rot_vel_

private

Definition at line 168 of file dynamic_window.hpp.

◆ max_vel_x_

double ergodic_exploration::DynamicWindow::max_vel_x_

private

Definition at line 166 of file dynamic_window.hpp.

◆ max_vel_y_

double ergodic_exploration::DynamicWindow::max_vel_y_

private

Definition at line 167 of file dynamic_window.hpp.

◆ min_rot_vel_

double ergodic_exploration::DynamicWindow::min_rot_vel_

private

Definition at line 168 of file dynamic_window.hpp.

◆ min_vel_x_

double ergodic_exploration::DynamicWindow::min_vel_x_

private

Definition at line 166 of file dynamic_window.hpp.

◆ min_vel_y_

double ergodic_exploration::DynamicWindow::min_vel_y_

private

Definition at line 167 of file dynamic_window.hpp.

◆ steps_

unsigned int ergodic_exploration::DynamicWindow::steps_

private

Definition at line 172 of file dynamic_window.hpp.

◆ vth_samples_

unsigned int ergodic_exploration::DynamicWindow::vth_samples_

private

Definition at line 171 of file dynamic_window.hpp.

◆ vx_samples_

unsigned int ergodic_exploration::DynamicWindow::vx_samples_

private

Definition at line 169 of file dynamic_window.hpp.

◆ vy_samples_

unsigned int ergodic_exploration::DynamicWindow::vy_samples_

private

Definition at line 170 of file dynamic_window.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicWindow()

Member Function Documentation

◆ control() [1/2]

◆ control() [2/2]

◆ horizon()

◆ objective() [1/2]

◆ objective() [2/2]

◆ steps()

◆ timeStep()

◆ window()

Member Data Documentation

◆ acc_dt_

◆ acc_lim_th_

◆ acc_lim_x_

◆ acc_lim_y_

◆ collision_

◆ dt_

◆ horizon_

◆ max_rot_vel_

◆ max_vel_x_

◆ max_vel_y_

◆ min_rot_vel_

◆ min_vel_x_

◆ min_vel_y_

◆ steps_

◆ vth_samples_

◆ vx_samples_

◆ vy_samples_