Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. More...

#include <edge_dynamic_obstacle.h>

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeDynamicObstacle ()
	Construct edge.
	EdgeDynamicObstacle (size_t vert_idx)
	Construct edge and specify the vertex id (neccessary for computeError).
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
void	setObstacle (const Obstacle *obstacle)
	Set Obstacle for the underlying cost function.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
void	setVertexIdx (size_t vert_idx)
	Set the vertex index (position in the pose sequence)
virtual bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~EdgeDynamicObstacle ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.
size_t	vert_idx_
	Store vertex index (position in the pose sequence)

Detailed Description

Edge defining the cost function for keeping a distance from dynamic (moving) obstacles.

The edge depends on two vertices $\mathbf{s}_i, \Delta T_i$ and minimizes:
$\min \textrm{penaltyBelow}( dist2obstacle) \cdot weight$ .
dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal).
weight can be set using setInformation().
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow().

See also:: TebOptimalPlanner::AddEdgesDynamicObstacles

Remarks:: Do not forget to call setTebConfig(), setVertexIdx() and

Warning:: Experimental

Definition at line 71 of file edge_dynamic_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( ) [inline]

Construct edge.

Definition at line 78 of file edge_dynamic_obstacle.h.

teb_local_planner::EdgeDynamicObstacle::EdgeDynamicObstacle ( size_t vert_idx ) [inline]

Construct edge and specify the vertex id (neccessary for computeError).

Parameters:

vert_idx Index of the vertex (position in the pose sequence)

Definition at line 87 of file edge_dynamic_obstacle.h.

virtual teb_local_planner::EdgeDynamicObstacle::~EdgeDynamicObstacle ( ) [inline, virtual]

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 98 of file edge_dynamic_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeDynamicObstacle::computeError ( ) [inline]

Actual cost function.

Definition at line 107 of file edge_dynamic_obstacle.h.

ErrorVector& teb_local_planner::EdgeDynamicObstacle::getError ( ) [inline]

Compute and return error / cost value.

This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.

Returns:: 1D Cost / error vector

Definition at line 141 of file edge_dynamic_obstacle.h.

virtual bool teb_local_planner::EdgeDynamicObstacle::read ( std::istream & is ) [inline, virtual]

Read values from input stream.

Definition at line 150 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setObstacle ( const Obstacle * obstacle ) [inline]

Set Obstacle for the underlying cost function.

Parameters:

obstacle Const pointer to an Obstacle or derived Obstacle

Definition at line 178 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setTebConfig ( const TebConfig & cfg ) [inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 187 of file edge_dynamic_obstacle.h.

void teb_local_planner::EdgeDynamicObstacle::setVertexIdx ( size_t vert_idx ) [inline]

Set the vertex index (position in the pose sequence)

Parameters:

vert_idx Index of the vertex

Definition at line 169 of file edge_dynamic_obstacle.h.

virtual bool teb_local_planner::EdgeDynamicObstacle::write ( std::ostream & os ) const [inline, virtual]

Write values to an output stream.

Definition at line 159 of file edge_dynamic_obstacle.h.

Member Data Documentation

const TebConfig* teb_local_planner::EdgeDynamicObstacle::cfg_ [protected]

Store TebConfig class for parameters.

Definition at line 194 of file edge_dynamic_obstacle.h.

size_t teb_local_planner::EdgeDynamicObstacle::vert_idx_ [protected]

Store vertex index (position in the pose sequence)

Definition at line 195 of file edge_dynamic_obstacle.h.

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

edge_dynamic_obstacle.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation