Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. More...
#include <edge_acceleration.h>
Public Member Functions | |
| void | computeError () |
| Actual cost function. | |
| EdgeAccelerationGoal () | |
| Construct edge. | |
| ErrorVector & | getError () |
| Compute and return error / cost value. | |
| bool | read (std::istream &is) |
| Read values from input stream. | |
| void | setGoalVelocity (const Eigen::Vector2d &vel_goal) |
| Set the goal / final velocity that is taken into account for calculating the acceleration. | |
| void | setTebConfig (const TebConfig &cfg) |
| Assign the TebConfig class for parameters. | |
| bool | write (std::ostream &os) const |
| Write values to an output stream. | |
| ~EdgeAccelerationGoal () | |
| Destruct edge. | |
Protected Attributes | |
| const TebConfig * | cfg_ |
| Store TebConfig class for parameters. | |
Detailed Description
Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory.
The edge depends on three vertices 
, an initial velocity defined by setGoalVelocity() and minimizes:
![$ \min \textrm{penaltyInterval}( [a, omegadot ]^T ) \cdot weight $](form_3.png)
.
a is calculated using the difference quotient (twice) and the position parts of the poses
omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation()
penaltyInterval denotes the penalty function, see penaltyBoundToInterval()
The dimension of the error / cost vector is 2: the first component represents the translational acceleration and the second one the rotational acceleration.
- Remarks:
- Do not forget to call setTebConfig()
- Refer to EdgeAccelerationStart() for defining boundary (initial) values at the end of the trajectory
Definition at line 470 of file edge_acceleration.h.
Constructor & Destructor Documentation
Construct edge.
Definition at line 477 of file edge_acceleration.h.
Destruct edge.
We need to erase vertices manually, since we want to keep them even if TebOptimalPlanner::clearGraph() is called. This is necessary since the vertices are managed by the Timed_Elastic_Band class.
Definition at line 490 of file edge_acceleration.h.
Member Function Documentation
| void teb_local_planner::EdgeAccelerationGoal::computeError | ( | ) | [inline] |
Actual cost function.
Definition at line 502 of file edge_acceleration.h.
| ErrorVector& teb_local_planner::EdgeAccelerationGoal::getError | ( | ) | [inline] |
Compute and return error / cost value.
This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.
- Returns:
- 2D Cost / error vector [translational acc cost, angular acc cost]^T
Definition at line 541 of file edge_acceleration.h.
| bool teb_local_planner::EdgeAccelerationGoal::read | ( | std::istream & | is | ) | [inline] |
Read values from input stream.
Definition at line 551 of file edge_acceleration.h.
| void teb_local_planner::EdgeAccelerationGoal::setGoalVelocity | ( | const Eigen::Vector2d & | vel_goal | ) | [inline] |
Set the goal / final velocity that is taken into account for calculating the acceleration.
- Parameters:
-
vel_goal 2D vector containing the translational and rotational velocity
Definition at line 572 of file edge_acceleration.h.
| void teb_local_planner::EdgeAccelerationGoal::setTebConfig | ( | const TebConfig & | cfg | ) | [inline] |
Assign the TebConfig class for parameters.
- Parameters:
-
cfg TebConfig class
Definition at line 581 of file edge_acceleration.h.
| bool teb_local_planner::EdgeAccelerationGoal::write | ( | std::ostream & | os | ) | const [inline] |
Write values to an output stream.
Definition at line 560 of file edge_acceleration.h.
Member Data Documentation
const TebConfig* teb_local_planner::EdgeAccelerationGoal::cfg_ [protected] |
Store TebConfig class for parameters.
Definition at line 588 of file edge_acceleration.h.
The documentation for this class was generated from the following file: