teb_local_planner::EdgeTimeOptimal Class Reference

Edge defining the cost function for minimizing transition time of the trajectory. More...

#include <edge_time_optimal.h>

List of all members.

Public Member Functions
void	computeError ()
	Actual cost function.
	EdgeTimeOptimal ()
	Construct edge.
ErrorVector &	getError ()
	Compute and return error / cost value.
virtual bool	read (std::istream &is)
	Read values from input stream.
void	setTebConfig (const TebConfig &cfg)
	Assign the TebConfig class for parameters.
virtual bool	write (std::ostream &os) const
	Write values to an output stream.
virtual	~EdgeTimeOptimal ()
	Destruct edge.
Protected Attributes
const TebConfig *	cfg_
	Store TebConfig class for parameters.

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Detailed Description

Edge defining the cost function for minimizing transition time of the trajectory.

The edge depends on a single vertex and minimizes:
.
scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it.
weight can be set using setInformation() (something around 1.0 seems to be fine).

See also:

TebOptimalPlanner::AddEdgesTimeOptimal

Remarks:

Do not forget to call setTebConfig()

Definition at line 73 of file edge_time_optimal.h.

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Constructor & Destructor Documentation

teb_local_planner::EdgeTimeOptimal::EdgeTimeOptimal

(

)

[inline]

Construct edge.

Definition at line 80 of file edge_time_optimal.h.

virtual teb_local_planner::EdgeTimeOptimal::~EdgeTimeOptimal

(

)

[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 92 of file edge_time_optimal.h.

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Member Function Documentation

void teb_local_planner::EdgeTimeOptimal::computeError

(

)

[inline]

Actual cost function.

Definition at line 101 of file edge_time_optimal.h.

ErrorVector& teb_local_planner::EdgeTimeOptimal::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 128 of file edge_time_optimal.h.

virtual bool teb_local_planner::EdgeTimeOptimal::read

(

std::istream &

is

)

[inline, virtual]

Read values from input stream.

Definition at line 137 of file edge_time_optimal.h.

void teb_local_planner::EdgeTimeOptimal::setTebConfig

(

const TebConfig &

cfg

)

[inline]

Assign the TebConfig class for parameters.

Parameters:

cfg	TebConfig class

Definition at line 157 of file edge_time_optimal.h.

virtual bool teb_local_planner::EdgeTimeOptimal::write

(

std::ostream &

os

)

const [inline, virtual]

Write values to an output stream.

Definition at line 147 of file edge_time_optimal.h.

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Member Data Documentation

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

Store TebConfig class for parameters.

Definition at line 164 of file edge_time_optimal.h.

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

• edge_time_optimal.h