base_robot_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/systems/
base__robot__se2_8h.html
mpc_local_planner/systems/robot_dynamics_interface.h
mpc_local_planner::BaseRobotSE2
mpc_local_planner
controller.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/
controller_8cpp.html
mpc_local_planner/controller.h
mpc_local_planner/optimal_control/fd_collocation_se2.h
mpc_local_planner/optimal_control/final_state_conditions_se2.h
mpc_local_planner/optimal_control/finite_differences_variable_grid_se2.h
mpc_local_planner/optimal_control/min_time_via_points_cost.h
mpc_local_planner/optimal_control/quadratic_cost_se2.h
mpc_local_planner/optimal_control/stage_inequality_se2.h
mpc_local_planner/systems/kinematic_bicycle_model.h
mpc_local_planner/systems/simple_car.h
mpc_local_planner/systems/unicycle_robot.h
mpc_local_planner/utils/time_series_se2.h
mpc_local_planner
controller.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/
controller_8h.html
mpc_local_planner/optimal_control/stage_inequality_se2.h
mpc_local_planner/systems/robot_dynamics_interface.h
mpc_local_planner::Controller
mpc_local_planner
conversion.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/utils/
conversion_8cpp.html
mpc_local_planner/utils/conversion.h
mpc_local_planner
void
convert
namespacempc__local__planner.html
ae1f0f6c5852aad8694e4103f7e727962
(const corbo::TimeSeries &time_series, const RobotDynamicsInterface &dynamics, std::vector< geometry_msgs::PoseStamped > &poses_stamped, const std::string &frame_id)
conversion.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/utils/
conversion_8h.html
mpc_local_planner/systems/robot_dynamics_interface.h
mpc_local_planner
void
convert
namespacempc__local__planner.html
ae1f0f6c5852aad8694e4103f7e727962
(const corbo::TimeSeries &time_series, const RobotDynamicsInterface &dynamics, std::vector< geometry_msgs::PoseStamped > &poses_stamped, const std::string &frame_id)
fd_collocation_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
fd__collocation__se2_8h.html
mpc_local_planner/utils/math_utils.h
mpc_local_planner::CrankNicolsonDiffCollocationSE2
mpc_local_planner::ForwardDiffCollocationSE2
mpc_local_planner::MidpointDiffCollocationSE2
mpc_local_planner
final_state_conditions_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
final__state__conditions__se2_8cpp.html
mpc_local_planner/optimal_control/final_state_conditions_se2.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
final_state_conditions_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
final__state__conditions__se2_8h.html
mpc_local_planner::QuadraticFinalStateCostSE2
mpc_local_planner::TerminalBallSE2
mpc_local_planner
finite_differences_grid_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
finite__differences__grid__se2_8cpp.html
mpc_local_planner/optimal_control/finite_differences_grid_se2.h
mpc_local_planner
finite_differences_grid_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
finite__differences__grid__se2_8h.html
mpc_local_planner/optimal_control/full_discretization_grid_base_se2.h
mpc_local_planner::FiniteDifferencesGridSE2
mpc_local_planner
finite_differences_variable_grid_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
finite__differences__variable__grid__se2_8cpp.html
mpc_local_planner/optimal_control/finite_differences_variable_grid_se2.h
mpc_local_planner
finite_differences_variable_grid_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
finite__differences__variable__grid__se2_8h.html
mpc_local_planner/optimal_control/finite_differences_grid_se2.h
mpc_local_planner::FiniteDifferencesVariableGridSE2
mpc_local_planner
full_discretization_grid_base_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
full__discretization__grid__base__se2_8cpp.html
mpc_local_planner/optimal_control/full_discretization_grid_base_se2.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
full_discretization_grid_base_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
full__discretization__grid__base__se2_8h.html
mpc_local_planner/optimal_control/vector_vertex_se2.h
mpc_local_planner::FullDiscretizationGridBaseSE2
mpc_local_planner
kinematic_bicycle_model.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/systems/
kinematic__bicycle__model_8h.html
mpc_local_planner/systems/base_robot_se2.h
mpc_local_planner::KinematicBicycleModelVelocityInput
mpc_local_planner
math_utils.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/utils/
math__utils_8h.html
mpc_local_planner
double
average_angles
namespacempc__local__planner.html
aadc1e5461781697ccecdb14204fffc00
(const std::vector< double > &angles)
double
cross2d
namespacempc__local__planner.html
a678674beefe674b469e31054f5c5c16b
(const V1 &v1, const V2 &v2)
double
distance_points2d
namespacempc__local__planner.html
acc33a70e04de290389f60c009c10be5b
(const P1 &point1, const P2 &point2)
double
distance_points2d
namespacempc__local__planner.html
afe138b9d96ccbf71d9e202473f0b4d37
(double x1, double y1, double x2, double y2)
double
interpolate_angle
namespacempc__local__planner.html
a7e4107f6c21fccbd3523abd425a68e70
(double angle1, double angle2, double factor)
double
normalize_theta
namespacempc__local__planner.html
a5271401803bb4e96cab06de13fdd4aea
(double theta)
min_time_via_points_cost.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
min__time__via__points__cost_8cpp.html
mpc_local_planner/optimal_control/min_time_via_points_cost.h
mpc_local_planner/optimal_control/full_discretization_grid_base_se2.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
min_time_via_points_cost.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
min__time__via__points__cost_8h.html
mpc_local_planner::MinTimeViaPointsCost
mpc_local_planner
mpc_local_planner_ros.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/
mpc__local__planner__ros_8cpp.html
mpc_local_planner/mpc_local_planner_ros.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
mpc_local_planner_ros.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/
mpc__local__planner__ros_8h.html
mpc_local_planner/controller.h
mpc_local_planner/utils/publisher.h
mpc_local_planner::MpcLocalPlannerROS::CostmapConverterPlugin
mpc_local_planner::MpcLocalPlannerROS
mpc_local_planner::MpcLocalPlannerROS::Parameters
mpc_local_planner
plot_optimal_control_results.py
/tmp/ws/src/mpc_local_planner/mpc_local_planner/scripts/
plot__optimal__control__results_8py.html
plot_optimal_control_results::OcpResultPlotter
plot_optimal_control_results
anonymous
namespaceplot__optimal__control__results.html
ae032f3f719f8cd1137245c0c2b5040db
plot_states
namespaceplot__optimal__control__results.html
afbfb87468d340ac23f0d97abe87a7cf2
int
rate
namespaceplot__optimal__control__results.html
ae4c125853e795ca9b481f4642ed0a061
result_plotter
namespaceplot__optimal__control__results.html
a60d99a70a4bb6760302e6ded4b17221b
string
topic_name
namespaceplot__optimal__control__results.html
a04e8fead5b281b118374ac5f802aa9c5
publisher.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/utils/
publisher_8cpp.html
mpc_local_planner/utils/publisher.h
mpc_local_planner/utils/conversion.h
mpc_local_planner
publisher.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/utils/
publisher_8h.html
mpc_local_planner/systems/robot_dynamics_interface.h
mpc_local_planner::Publisher
mpc_local_planner
quadratic_cost_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
quadratic__cost__se2_8cpp.html
mpc_local_planner/optimal_control/quadratic_cost_se2.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
quadratic_cost_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
quadratic__cost__se2_8h.html
mpc_local_planner::QuadraticFormCostSE2
mpc_local_planner::QuadraticStateCostSE2
mpc_local_planner
robot_dynamics_interface.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/systems/
robot__dynamics__interface_8h.html
mpc_local_planner::RobotDynamicsInterface
mpc_local_planner
simple_car.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/systems/
simple__car_8h.html
mpc_local_planner/systems/base_robot_se2.h
mpc_local_planner::SimpleCarFrontWheelDrivingModel
mpc_local_planner::SimpleCarModel
mpc_local_planner
stage_inequality_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/optimal_control/
stage__inequality__se2_8cpp.html
mpc_local_planner/optimal_control/full_discretization_grid_base_se2.h
mpc_local_planner/optimal_control/stage_inequality_se2.h
mpc_local_planner
stage_inequality_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
stage__inequality__se2_8h.html
mpc_local_planner::StageInequalitySE2
mpc_local_planner
test_mpc_optim_node.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/
test__mpc__optim__node_8cpp.html
mpc_local_planner/controller.h
mpc_local_planner/mpc_local_planner_ros.h
mpc_local_planner/utils/publisher.h
TestMpcOptimNode
int
main
test__mpc__optim__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
time_series_se2.cpp
/tmp/ws/src/mpc_local_planner/mpc_local_planner/src/utils/
time__series__se2_8cpp.html
mpc_local_planner/utils/time_series_se2.h
mpc_local_planner/utils/math_utils.h
mpc_local_planner
time_series_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/utils/
time__series__se2_8h.html
mpc_local_planner::TimeSeriesSE2
mpc_local_planner
unicycle_robot.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/systems/
unicycle__robot_8h.html
mpc_local_planner/systems/base_robot_se2.h
mpc_local_planner::UnicycleModel
mpc_local_planner
vector_vertex_se2.h
/tmp/ws/src/mpc_local_planner/mpc_local_planner/include/mpc_local_planner/optimal_control/
vector__vertex__se2_8h.html
mpc_local_planner/utils/math_utils.h
mpc_local_planner::PartiallyFixedVectorVertexSE2
mpc_local_planner::VectorVertexSE2
mpc_local_planner
mpc_local_planner::BaseRobotSE2
classmpc__local__planner_1_1BaseRobotSE2.html
mpc_local_planner::RobotDynamicsInterface
std::shared_ptr< BaseRobotSE2 >
Ptr
classmpc__local__planner_1_1BaseRobotSE2.html
ac368238a078e97a6f05bb9f6b33af903
BaseRobotSE2
classmpc__local__planner_1_1BaseRobotSE2.html
a0c7cce1a7c10235df7dedd5911c526e1
()=default
void
dynamics
classmpc__local__planner_1_1BaseRobotSE2.html
a87bb931633a0ce858c84255ab3c222e3
(const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override=0
int
getInputDimension
classmpc__local__planner_1_1BaseRobotSE2.html
a1d441e5cad8cd63155a4d168b9c47bb6
() const override=0
corbo::SystemDynamicsInterface::Ptr
getInstance
classmpc__local__planner_1_1BaseRobotSE2.html
a1740e635d3d0cd56106d843bb984886c
() const override=0
void
getPoseSE2FromState
classmpc__local__planner_1_1BaseRobotSE2.html
a65da1d0565e5a095b46bb133f5c388b2
(const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y, double &theta) const override
void
getPositionFromState
classmpc__local__planner_1_1BaseRobotSE2.html
a416247a6c488a704755ec89a337d865c
(const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y) const override
int
getStateDimension
classmpc__local__planner_1_1BaseRobotSE2.html
acf8fc0ed33809080b5f2c3f2c3b11424
() const override
void
getSteadyStateFromPoseSE2
classmpc__local__planner_1_1BaseRobotSE2.html
a1de06e02d7459b3a0c1036024f518655
(double pos_x, double pos_y, double theta, Eigen::Ref< Eigen::VectorXd > x) const override
bool
isContinuousTime
classmpc__local__planner_1_1BaseRobotSE2.html
ad5a091b565ef57cee8d1f96e164b86dc
() const override
bool
isLinear
classmpc__local__planner_1_1BaseRobotSE2.html
a1d77821b67e39afce78b10866e2413e3
() const override
virtual bool
mergeStateFeedbackAndOdomFeedback
classmpc__local__planner_1_1BaseRobotSE2.html
a1a291ade408c4829539c82636185c1ee
(const teb_local_planner::PoseSE2 &odom_pose, const geometry_msgs::Twist &odom_twist, Eigen::Ref< Eigen::VectorXd > x) const override
mpc_local_planner::Controller
classmpc__local__planner_1_1Controller.html
corbo::PredictiveController
teb_local_planner::PoseSE2
PoseSE2
classmpc__local__planner_1_1Controller.html
a1e66ff08689f37ada0d2aec4a2ad345a
std::shared_ptr< Controller >
Ptr
classmpc__local__planner_1_1Controller.html
a819c8c91471367f00d5ff176c044f0ae
bool
configure
classmpc__local__planner_1_1Controller.html
a446c7148dd29854d62b891b279853cca
(ros::NodeHandle &nh, const teb_local_planner::ObstContainer &obstacles, teb_local_planner::RobotFootprintModelPtr robot_model, const std::vector< teb_local_planner::PoseSE2 > &via_points)
Controller
classmpc__local__planner_1_1Controller.html
ae9e03e4736d66c2345fc4c8a59fb2921
()=default
StageInequalitySE2::Ptr
getInequalityConstraint
classmpc__local__planner_1_1Controller.html
a3334a15244cf0453786704c3afa628bd
()
corbo::ControllerInterface::Ptr
getInstance
classmpc__local__planner_1_1Controller.html
a46d30cf1a58df2b7bc30b0a8047f9af0
() const override
RobotDynamicsInterface::Ptr
getRobotDynamics
classmpc__local__planner_1_1Controller.html
a1faa3edbb67964528ddda685bd474c7a
()
virtual bool
isPoseTrajectoryFeasible
classmpc__local__planner_1_1Controller.html
a20dff9931f4d05cf3f2ad7ea5cea836d
(base_local_planner::CostmapModel *costmap_model, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, double min_resolution_collision_check_angular=M_PI, int look_ahead_idx=-1)
void
publishOptimalControlResult
classmpc__local__planner_1_1Controller.html
ad8f495431d67ed6da387e89e4ed4cfe5
()
void
reset
classmpc__local__planner_1_1Controller.html
a2b106041a649826596994d80fc6e069b
() override
void
setInitialPlanEstimateOrientation
classmpc__local__planner_1_1Controller.html
a3ef3dc5d7d7173917c52685ffa7439fa
(bool estimate)
void
setOptimalControlProblem
classmpc__local__planner_1_1Controller.html
a0294a1198e0d3f923321471f9be9a9f5
(corbo::OptimalControlProblemInterface::Ptr ocp)=delete
void
stateFeedbackCallback
classmpc__local__planner_1_1Controller.html
a5be472457f871a56ad9a62f961157b05
(const mpc_local_planner_msgs::StateFeedback::ConstPtr &msg)
bool
step
classmpc__local__planner_1_1Controller.html
aa68c518a4a120f1c4bef8f1227a98438
(const PoseSE2 &start, const PoseSE2 &goal, const geometry_msgs::Twist &vel, double dt, ros::Time t, corbo::TimeSeries::Ptr u_seq, corbo::TimeSeries::Ptr x_seq)
bool
step
classmpc__local__planner_1_1Controller.html
a08438909ad9fa2b59b58ccf1376352b3
(const std::vector< geometry_msgs::PoseStamped > &initial_plan, const geometry_msgs::Twist &vel, double dt, ros::Time t, corbo::TimeSeries::Ptr u_seq, corbo::TimeSeries::Ptr x_seq)
static corbo::ControllerInterface::Ptr
getInstanceStatic
classmpc__local__planner_1_1Controller.html
a497367c766e091f2974563bc81ac99ec
()
corbo::DiscretizationGridInterface::Ptr
configureGrid
classmpc__local__planner_1_1Controller.html
a591d640e8b3174e3fa719f7ef2f43845
(const ros::NodeHandle &nh)
corbo::StructuredOptimalControlProblem::Ptr
configureOcp
classmpc__local__planner_1_1Controller.html
aff3b20ce83fd7df6af5cffb9a8d9b812
(const ros::NodeHandle &nh, const teb_local_planner::ObstContainer &obstacles, teb_local_planner::RobotFootprintModelPtr robot_model, const std::vector< teb_local_planner::PoseSE2 > &via_points)
RobotDynamicsInterface::Ptr
configureRobotDynamics
classmpc__local__planner_1_1Controller.html
a3f8f8f95296fe699a73a04614ee212c1
(const ros::NodeHandle &nh)
corbo::NlpSolverInterface::Ptr
configureSolver
classmpc__local__planner_1_1Controller.html
a449ad23db1d39d6ad6c65f78acbb6d08
(const ros::NodeHandle &nh)
bool
generateInitialStateTrajectory
classmpc__local__planner_1_1Controller.html
af18144bf26ad204a17301fa7a1be2256
(const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, const std::vector< geometry_msgs::PoseStamped > &initial_plan, bool backward)
RobotDynamicsInterface::Ptr
_dynamics
classmpc__local__planner_1_1Controller.html
a943de7507d83a38ed7033c407267ad53
double
_force_reinit_new_goal_angular
classmpc__local__planner_1_1Controller.html
aba6948203dc71c7c3f85047cb20061da
double
_force_reinit_new_goal_dist
classmpc__local__planner_1_1Controller.html
a7fe4dbcdc76171af6b86ad93fd86d8bc
int
_force_reinit_num_steps
classmpc__local__planner_1_1Controller.html
a5b86cf46302f21560947ff3808409c84
corbo::DiscretizationGridInterface::Ptr
_grid
classmpc__local__planner_1_1Controller.html
afdbc808482b03b9b85da398719c6b57d
bool
_guess_backwards_motion
classmpc__local__planner_1_1Controller.html
abe0aae7e44e5c33238d8cf4dc18240c9
StageInequalitySE2::Ptr
_inequality_constraint
classmpc__local__planner_1_1Controller.html
aaaf8f223b81662478fa9a4e1ef302aaf
bool
_initial_plan_estimate_orientation
classmpc__local__planner_1_1Controller.html
af3eac1ba941829430381e267ac79ff35
teb_local_planner::PoseSE2
_last_goal
classmpc__local__planner_1_1Controller.html
abf232241b047de1c48e140f020e82f37
ros::Publisher
_ocp_result_pub
classmpc__local__planner_1_1Controller.html
a8ceb3b44bf9f43e4dfa86cc69c08decf
std::size_t
_ocp_seq
classmpc__local__planner_1_1Controller.html
a12936c14ac6f625b4600b1a5293f3dc6
bool
_ocp_successful
classmpc__local__planner_1_1Controller.html
a2aaf6c9760ba637e9282e86d49cdb5cd
bool
_prefer_x_feedback
classmpc__local__planner_1_1Controller.html
a417272f360d1f6754a2a87edcc821de4
bool
_print_cpu_time
classmpc__local__planner_1_1Controller.html
a15c7b1452f5c89a6bec0d1eb201f6ed0
bool
_publish_ocp_results
classmpc__local__planner_1_1Controller.html
ad6d1ac9be4ea2f6aaddc95ff83bd1e81
Eigen::VectorXd
_recent_x_feedback
classmpc__local__planner_1_1Controller.html
a2ceb45af01ad0f056ef837b1cf6e9432
ros::Time
_recent_x_time
classmpc__local__planner_1_1Controller.html
ab58906759b15c2ae80eab4c913d7e2c6
std::string
_robot_type
classmpc__local__planner_1_1Controller.html
ab4c0ea552a82274d35f3611e45e9330b
corbo::NlpSolverInterface::Ptr
_solver
classmpc__local__planner_1_1Controller.html
af758d911cfe8592ccb14df0cb73941a9
corbo::StructuredOptimalControlProblem::Ptr
_structured_ocp
classmpc__local__planner_1_1Controller.html
a0fad3e211179c6d78cd2dd14e4b6c493
std::mutex
_x_feedback_mutex
classmpc__local__planner_1_1Controller.html
a9c27779c686714d93f971a99ecc7d95e
ros::Subscriber
_x_feedback_sub
classmpc__local__planner_1_1Controller.html
a4d9ca0c8c986d99947f101ce5c7cdfcc
corbo::DiscreteTimeReferenceTrajectory
_x_seq_init
classmpc__local__planner_1_1Controller.html
aec921116e3999a590d79fdb7315e158f
mpc_local_planner::MpcLocalPlannerROS::CostmapConverterPlugin
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1CostmapConverterPlugin.html
std::string
costmap_converter_plugin
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1CostmapConverterPlugin.html
a1aac68d553ea1844fece753575783548
double
costmap_converter_rate
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1CostmapConverterPlugin.html
a4a40b9e4d6a440f32dbc320bd2e58e3b
bool
costmap_converter_spin_thread
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1CostmapConverterPlugin.html
a99e641c88a0a55f3cc23bf199cbaa622
mpc_local_planner::CrankNicolsonDiffCollocationSE2
classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html
corbo::FiniteDifferencesCollocationInterface
void
computeEqualityConstraint
classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html
ae687a1034e8e96d203ebc65095224b22
(const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const corbo::SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override
corbo::FiniteDifferencesCollocationInterface::Ptr
getInstance
classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html
a373185a9e470a916e0bad4b7efd5335a
() const override
mpc_local_planner::FiniteDifferencesGridSE2
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
mpc_local_planner::FullDiscretizationGridBaseSE2
corbo::BaseEdge
BaseEdge
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
ae3d82f3235dbdd073761eb218666b727
corbo::BaseMixedEdge
BaseMixedEdge
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a73a45dfeca13942ade4f38bdde8cea47
std::shared_ptr< FiniteDifferencesGridSE2 >
Ptr
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a795caf9336e39c9ef00ff5f6cec4807f
FiniteDifferencesGridSE2
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
abfa2a874d6e71c5d2b6b50c76ef13bbf
()=default
corbo::DiscretizationGridInterface::Ptr
getInstance
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
abf9856bd01f7a050bf3f5216e4da91cc
() const override
virtual
~FiniteDifferencesGridSE2
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a53dcaa59a116390feba4e5f3ce1075bf
()=default
static corbo::Factory< corbo::DiscretizationGridInterface > &
getFactory
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a43251f8d18374d0e55e7510b0349517a
()
void
createEdges
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a323045b5df2bc2fcaad73c959e7ecedc
(NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics) override
bool
isDtFixedIntended
classmpc__local__planner_1_1FiniteDifferencesGridSE2.html
a08e519093730dbca9b6d2e67da82fca9
() const override
mpc_local_planner::FiniteDifferencesVariableGridSE2
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
mpc_local_planner::FiniteDifferencesGridSE2
GridAdaptStrategy
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a8167676c3aacf021c436a747f2a681e5
NoGridAdapt
TimeBasedSingleStep
TimeBasedAggressiveEstimate
SimpleShrinkingHorizon
std::shared_ptr< FiniteDifferencesVariableGridSE2 >
Ptr
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a5010684233a3e94bda9802008df35cec
std::unique_ptr< FiniteDifferencesVariableGridSE2 >
UPtr
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a7e6111da4227648eea8e24254074bf8b
void
disableGridAdaptation
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a4625a50b30215f06880615abb0542412
()
FiniteDifferencesVariableGridSE2
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a0408e28eb05f0c33aba4e249088569ca
()=default
corbo::DiscretizationGridInterface::Ptr
getInstance
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
ada992f4cd7deb2819602139d458f00de
() const override
void
setDtBounds
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a960ae15c7ca4cab9100595ea0c28e24d
(double dt_lb, double dt_ub)
void
setGridAdaptSimpleShrinkingHorizon
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
af5e329531f964808985c04ae92e5ef73
(bool adapt_first_iter=false)
void
setGridAdaptTimeBasedAggressiveEstimate
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a28d13b002f989e241c085fa4ab01b7c6
(int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)
void
setGridAdaptTimeBasedSingleStep
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
af3c5b803b7a575d8970aa46f5c7d2a13
(int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)
void
setNmin
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
aec42e67d5f0d50ad83322b5e234509ef
(int n_min)
virtual
~FiniteDifferencesVariableGridSE2
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a91f9f39217731e0fd8eb16bbd509d578
()=default
static corbo::Factory< corbo::DiscretizationGridInterface > &
getFactory
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
abf713b89ab09720a20609739dd1cb06f
()
bool
adaptGrid
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a1f35ff251a69ae6b3350a8ab46615550
(bool new_run, NlpFunctions &nlp_fun) override
bool
adaptGridSimpleShrinkingHorizon
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a8b8379bc7de816be9fb51cc9dfdf6769
(NlpFunctions &nlp_fun)
bool
adaptGridTimeBasedAggressiveEstimate
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a71e80f75f30609d2d2be06759a185ca7
(NlpFunctions &nlp_fun)
bool
adaptGridTimeBasedSingleStep
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
ac3408924774d17dba522b4f8fce362df
(NlpFunctions &nlp_fun)
bool
isDtFixedIntended
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
ae4839f59ebd190ae30b95ea322d55df4
() const override
bool
isGridAdaptActive
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a385d2e9bdf36962caf5d059d383f6c35
() const override
bool
isMovingHorizonWarmStartActive
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a5afd9ec894f279261e99659526ec65f3
() const override
bool
_adapt_first_iter
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a1099d0b7eee1bddc8f5d36edb0031ed0
double
_dt_hyst_ratio
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a13d01c24c80c8c7b186444ffc6fa02b4
GridAdaptStrategy
_grid_adapt
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a68816e7b4b00ba9ef22fffb98fdd83b9
int
_n_max
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a208f901ae6943445a6ed5d2a189c89f4
int
_n_min
classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html
a4affc4ebc0351baca61b887b5e249cc9
mpc_local_planner::ForwardDiffCollocationSE2
classmpc__local__planner_1_1ForwardDiffCollocationSE2.html
corbo::FiniteDifferencesCollocationInterface
void
computeEqualityConstraint
classmpc__local__planner_1_1ForwardDiffCollocationSE2.html
a4db6d8b2fdff938db2d541ec7e8fe699
(const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const corbo::SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override
corbo::FiniteDifferencesCollocationInterface::Ptr
getInstance
classmpc__local__planner_1_1ForwardDiffCollocationSE2.html
a5c82b03df348cab3309c3cc15b38a583
() const override
mpc_local_planner::FullDiscretizationGridBaseSE2
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
corbo::DiscretizationGridInterface
CostIntegrationRule
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a5649e5a591cf84f47ffb7e3f38bfa5d1
LeftSum
TrapezoidalRule
corbo::NlpFunctions
NlpFunctions
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a4c182735aef894bad417bf3377d4f721
corbo::OptimizationEdgeSet
OptimizationEdgeSet
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
afac9ddd496a3678f58bdf32a508d7d20
corbo::PartiallyFixedVectorVertex
PartiallyFixedVectorVertex
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a46839245bddf98f2c43d46ff6fdda7a3
std::shared_ptr< FullDiscretizationGridBaseSE2 >
Ptr
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a5cba2b4ea373a60328283549ca152b21
corbo::ReferenceTrajectoryInterface
ReferenceTrajectoryInterface
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
aa579c6a16da68813dbf652c3b6713401
corbo::ScalarVertex
ScalarVertex
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a2866c0ecf97a9bd5182de2c2588ddf20
corbo::SystemDynamicsInterface
SystemDynamicsInterface
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a52ffccb765913e0139ea1e0fb225a74f
corbo::TimeSeries
TimeSeries
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
aeb2ceab09e47e84f25342ffdf55976d2
std::unique_ptr< FullDiscretizationGridBaseSE2 >
UPtr
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a2ae44932f516fa6b873aff56021ec995
corbo::VectorVertex
VectorVertex
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a12a983f33e3a1dd5c011eba8e8c20d0d
corbo::VertexInterface
VertexInterface
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a311ecc133845277dcdb88e6739680a4a
void
clear
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
abca4bb3300545cb2934d3c6e89ad8f46
() override
int
findClosestPose
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a62a7cfb6ad0452072c5fd31c95aa0a34
(double x_ref, double y_ref, int start_idx=0, double *distance=nullptr) const
FullDiscretizationGridBaseSE2
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a7aaa39a32a6b83ed75f7afc35f7158aa
()=default
std::vector< VertexInterface * > &
getActiveVertices
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a2bef34f81b391d6f73898f7d5e49f1c7
() override
double
getDt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
aa7cc024c0ded5342280845fc67e47e7e
() const
double
getDtRef
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ae2b16486aae67cc458d650b46cc76b3b
() const
double
getFinalTime
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a7a447437ce0e200bcae26ffaeb9e1f48
() const override
bool
getFirstControlInput
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a8e67cfa839edf07f3f395d8b0d7fe2a6
(Eigen::VectorXd &u0) override
double
getFirstDt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a899e1adec08cee87db574133310ce703
() const override
double
getInitialDt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a38a4da77d4a28a342cd42fb1e44b6e77
() const override
int
getInitialN
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a85ec2a1ff84a04aa6523ca4ce98f9b9e
() const override
corbo::DiscretizationGridInterface::Ptr
getInstance
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a0ec41d306eef67a431263388b0d99013
() const override=0
int
getN
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ade9cce092360d0cf1038e6923f2b0cae
() const override
int
getNRef
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a7281cf068f8288a0fdfe9c6233d1fc8c
() const
const Eigen::VectorXd &
getState
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a5bd346b0a0411d60d44c16d4129cc2c1
(int k) const
void
getStateAndControlTimeSeries
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ab2ebb53efd03178c68dd225ef8cf686e
(TimeSeries::Ptr x_sequence, TimeSeries::Ptr u_sequence, double t_max=corbo::CORBO_INF_DBL) const override
void
getVertices
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a18a86ddf310f70c359da8cfa786f3cac
(std::vector< VertexInterface * > &vertices) override
bool
hasConstantControls
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a1b0f7229c21dc298df90ffab448b7c8d
() const override
bool
hasSingleDt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a74c49a60d61904dd0353a55baa523611
() const override
bool
isEmpty
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a09b9b6633eb53ef1c7851290182e1e86
() const override
bool
isTimeVariableGrid
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ad60214891b10afa5b6d61e1c2da3ea4a
() const override
bool
isUniformGrid
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a8d295576b905c2e6e35f6972215bfd4b
() const override
virtual bool
isValid
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a2a37191e7843f2b15494928e3c5b4fca
() const
bool
providesStateTrajectory
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ac084ab49237f83171bce19a57fb46043
() const override
void
setCostIntegrationRule
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a4a78f743dff4b0651c1b99b522701521
(CostIntegrationRule integration)
void
setDtRef
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a52862154b2a470ce1cf2244ea7d50d05
(double dt)
void
setFiniteDifferencesCollocationMethod
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
abac00737ef8b73f6150ee069c615acf6
(corbo::FiniteDifferencesCollocationInterface::Ptr fd_eval)
void
setInitialDt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a916ee79443fdedc361765e179b082d3c
(double dt) override
void
setN
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a211aae26d6e5a88f8ccd7daf37d97b30
(int n, bool try_resample=true) override
void
setNRef
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
af35608369bc3d76a1896ca697b423930
(int n)
void
setWarmStart
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ab1149d3957e52dee511123b2762023a2
(bool active)
void
setXfFixed
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
acb157f23588b09e6e83203634bc4d561
(const Eigen::Matrix< bool, -1, 1 > &xf_fixed)
corbo::GridUpdateResult
update
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a4e5f491266c1ded03acc8e667ec3b9d4
(const Eigen::VectorXd &x0, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics, bool new_run, const corbo::Time &t, ReferenceTrajectoryInterface *sref=nullptr, const Eigen::VectorXd *prev_u=nullptr, double prev_u_dt=0, ReferenceTrajectoryInterface *xinit=nullptr, ReferenceTrajectoryInterface *uinit=nullptr) override
virtual
~FullDiscretizationGridBaseSE2
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ab41c488d0934e56e8c3e3378c3aad931
()=default
virtual bool
adaptGrid
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a17bb1d4870f3da071df591bc9ebfbbf1
(bool new_run, NlpFunctions &nlp_fun)
bool
checkAndInitializeXfFixedFlags
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a24f8e782b9cd6533d498c57d76684cce
(int dim_x)
void
computeActiveVertices
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a9473a6afdcf491ba7e0779cdb8575880
() override
virtual void
createEdges
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a22b3e0039a2c20a169f50b7c88558b0e
(NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics)=0
int
findNearestState
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a1037508083ea059a8594ed98d4f0fa71
(const Eigen::VectorXd &x0)
virtual void
initializeSequences
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a268a510e2bef81d701c6fac8fdf78a95
(const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)
virtual void
initializeSequences
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a4cf28c8de0870e98c4fcade9057b231c
(const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)
virtual bool
isDtFixedIntended
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a477a41997bba25c5fbd453a2ef606656
() const
virtual bool
isGridAdaptActive
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a8f41fef2d9c6d3e8bfd840df636f00e7
() const
virtual bool
isMovingHorizonWarmStartActive
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a7cffb941a28aee40901f05ef4f8b103f
() const
virtual void
resampleTrajectory
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
aad624231545cb485f66b1ea45366d381
(int n_new)
void
updateBounds
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
abb732c15335297088867e17a7dcc51b0
(const NlpFunctions &nlp_fun)
virtual void
warmStartShifting
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a562f0ec83bfe394b07d01e05d00442ac
(const Eigen::VectorXd &x0)
std::vector< VertexInterface * >
_active_vertices
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ac5bffda5d3a6ae43ac662dac08e2f331
CostIntegrationRule
_cost_integration
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
aaab6f9d6ebc56649c796e5d902565992
ScalarVertex
_dt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a5d3051d5dd35c7176f74b61b9aed93fc
double
_dt_lb
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a66041908a94965543ed62dccb728a3c6
double
_dt_ref
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a4df79c2b392b57289fa73d99f8671942
double
_dt_ub
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a44a9b2feb61c30c395cfbb8e2a4fc71d
corbo::FiniteDifferencesCollocationInterface::Ptr
_fd_eval
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a0d391c6851bfaaca6c5f6b9854cd71d2
bool
_first_run
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a8c1e7b066b6142c1cd8d0ace0f3d3e05
int
_n_adapt
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a37cbeb7ffc881dd5eb8f884c370741c2
int
_n_ref
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ad895dd78ebaad0c109483171784bf2b2
const NlpFunctions *
_nlp_fun
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a56af660fed3415fe91cb83135339659a
std::vector< VectorVertex >
_u_seq
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ac314015c06643da8fe7ea2c0fa451b63
bool
_warm_start
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ac30770cbf26461ab77275b3e790bbb04
std::vector< VectorVertexSE2 >
_x_seq
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
ac6cf20a31a0a4c1cf713a4620434124e
PartiallyFixedVectorVertexSE2
_xf
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a82a7431b72c630e360e2dfceb5ed4684
Eigen::Matrix< bool, -1, 1 >
_xf_fixed
classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html
a972430bc40f014d923a1818c71af7aff
mpc_local_planner::KinematicBicycleModelVelocityInput
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
mpc_local_planner::BaseRobotSE2
void
dynamics
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
af8e7589a8a9a5684cca3d6b9dc56377a
(const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
int
getInputDimension
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
ade434a6561ff58224e659b789e70582f
() const override
SystemDynamicsInterface::Ptr
getInstance
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a3a880b8eacbc3d9d96b9314473ac3c7d
() const override
double
getLengthFront
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a4ef2f8869ff932bbbb5f5d09ccfe2672
() const
double
getLengthRear
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
af03e6157b8d0f56b4ad39a85cdfe237a
() const
bool
getTwistFromControl
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a92605df94a1c40cf35d7d541955f24b5
(const Eigen::Ref< const Eigen::VectorXd > &u, geometry_msgs::Twist &twist) const override
KinematicBicycleModelVelocityInput
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a01599b3c445063e7173b362653bd28a2
()=default
KinematicBicycleModelVelocityInput
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
af504aeb4baa28327bd2613bf9afed6de
(double lr, double lf)
void
setParameters
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a943b843c520d0098b36640cef093aa86
(double lr, double lf)
double
_lf
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a6853e6c83104734c178fc366585c8b1a
double
_lr
classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html
a706302a050243cbfe46c7122bf2599c9
mpc_local_planner::MidpointDiffCollocationSE2
classmpc__local__planner_1_1MidpointDiffCollocationSE2.html
corbo::FiniteDifferencesCollocationInterface
void
computeEqualityConstraint
classmpc__local__planner_1_1MidpointDiffCollocationSE2.html
a05806b923252b20319f996644d264269
(const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const corbo::SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override
corbo::FiniteDifferencesCollocationInterface::Ptr
getInstance
classmpc__local__planner_1_1MidpointDiffCollocationSE2.html
a4a8cbec668e34fea261e82ad5273b0d1
() const override
mpc_local_planner::MinTimeViaPointsCost
classmpc__local__planner_1_1MinTimeViaPointsCost.html
corbo::StageCost
std::shared_ptr< MinTimeViaPointsCost >
Ptr
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a810470a0aa1b271abd98b758f5e776e7
std::vector< teb_local_planner::PoseSE2 >
ViaPointContainer
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a1a8679fc6d6c77d6722a613d33222844
void
computeNonIntegralDtTerm
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a2c5e8db38fdafba130f19df4e604d0f2
(int k, double dt, Eigen::Ref< Eigen::VectorXd > cost) const override
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1MinTimeViaPointsCost.html
ab0a506d495e2a44f9206ac92d718fa66
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::StageCost::Ptr
getInstance
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a57a6135e0c495a75b88ba5d4cd83140f
() const override
int
getNonIntegralDtTermDimension
classmpc__local__planner_1_1MinTimeViaPointsCost.html
adcc99953c358eb16be50842b79aff5a9
(int k) const override
int
getNonIntegralStateTermDimension
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a744c67546f657a3ebe66dab4ac821bc4
(int k) const override
bool
hasIntegralTerms
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a675fbfac9f248caf97fc3f8ef1f47edc
(int k) const override
bool
hasNonIntegralTerms
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a2d7456f5b197a75e1301255b3a23ba5d
(int k) const override
bool
isLsqFormNonIntegralDtTerm
classmpc__local__planner_1_1MinTimeViaPointsCost.html
af7f348ef56b6dd3c1a9d7aa763764939
(int k) const override
MinTimeViaPointsCost
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a09dd988b088a62c5dfedfc63b937bfb4
()=default
MinTimeViaPointsCost
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a47ff4606c88d426aa9dde8fcf586de17
(const ViaPointContainer &via_points, double position_weight, double orientation_weight, bool via_points_ordered)
void
setViaPointContainer
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a2cb5a2311392edc7ecb0c5402b6de802
(const ViaPointContainer &via_points)
void
setViaPointOrderedMode
classmpc__local__planner_1_1MinTimeViaPointsCost.html
ab0944104ea52c608d52c125732a89035
(bool ordered)
void
setViaPointWeights
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a36f7a8c8e053fe64846644a2bf820185
(double position_weight, double orientation_weight)
bool
update
classmpc__local__planner_1_1MinTimeViaPointsCost.html
acf4fbb590760103dc1ad6afe12ad490c
(int n, double, corbo::ReferenceTrajectoryInterface &, corbo::ReferenceTrajectoryInterface &, corbo::ReferenceTrajectoryInterface *, bool single_dt, const Eigen::VectorXd &x0, corbo::StagePreprocessor::Ptr, const std::vector< double > &, const corbo::DiscretizationGridInterface *grid) override
bool
_single_dt
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a5d8667db7db4478a99f319cd12e64d6b
double
_time_weight
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a77221ed52b75ce783d997849db344a7c
const ViaPointContainer *
_via_points
classmpc__local__planner_1_1MinTimeViaPointsCost.html
ad2928057b3f3c952c00f156e4ffe6866
bool
_via_points_ordered
classmpc__local__planner_1_1MinTimeViaPointsCost.html
ae1f4f43498603bc1a5477ea1f7ea222d
std::vector< std::pair< std::vector< const teb_local_planner::PoseSE2 * >, std::size_t > >
_vp_association
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a3b3248d2d183374d20d727c9b04c0753
double
_vp_orientation_weight
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a7d3224520c1846723295a518f57c81f6
double
_vp_position_weight
classmpc__local__planner_1_1MinTimeViaPointsCost.html
a2d8d4c129c9c22a0b7ea3b8541631f50
mpc_local_planner::MpcLocalPlannerROS
classmpc__local__planner_1_1MpcLocalPlannerROS.html
nav_core::BaseLocalPlanner
mbf_costmap_core::CostmapController
mpc_local_planner::MpcLocalPlannerROS::CostmapConverterPlugin
mpc_local_planner::MpcLocalPlannerROS::Parameters
bool
cancel
classmpc__local__planner_1_1MpcLocalPlannerROS.html
add8f9f539cae35b679911bd1b28d0209
()
uint32_t
computeVelocityCommands
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aca9c28dbf783cb3fef05e2c7a71d61d2
(const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)
bool
computeVelocityCommands
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ac4fec0bf4cb736f2cbb6c6371b6f57c9
(geometry_msgs::Twist &cmd_vel)
void
initialize
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae04ce4f834c2157c70994c88a09492cf
(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros)
bool
isGoalReached
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a165a089d78d9130853aa0d52f8e71145
()
bool
isGoalReached
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a574e17538051dd9fdca75ae3261123ff
(double xy_tolerance, double yaw_tolerance)
MpcLocalPlannerROS
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a621d7ad60f75820dd3a8b1956f6707be
()
bool
setPlan
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a82599395e8fbe5f649efb65ab5740c0f
(const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
~MpcLocalPlannerROS
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a0b9e66d876c6aacfce2383b0dbd73b0c
()
teb_local_planner::CircularObstacle
CircularObstacle
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ab3be4c94b47d27d97aa7f64ef57eaf3e
teb_local_planner::LineObstacle
LineObstacle
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a21bdb93a6fac8460018340ec5cf1312b
teb_local_planner::ObstaclePtr
ObstaclePtr
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a3b7b9548d6da3588f1841a9da7008f64
teb_local_planner::ObstContainer
ObstContainer
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aa8101d4a016213e761be6a0b140573c9
teb_local_planner::Point2dContainer
Point2dContainer
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a31e889d891604c3efc6724358c0881bb
teb_local_planner::PointObstacle
PointObstacle
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a803396897d3e315a313f72cba7a62c31
teb_local_planner::PolygonObstacle
PolygonObstacle
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aa1297ce86d2cc4f5698cc7c676326a34
teb_local_planner::PoseSE2
PoseSE2
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a57f7d4dd519c8ecc83757d7d1d167f80
teb_local_planner::RobotFootprintModelPtr
RobotFootprintModelPtr
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a65a4427fd3aa5e3f40549c195c089041
std::vector< PoseSE2 >
ViaPointContainer
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a9b0db78d014adbd252b596f75bef2bd9
costmap_2d::Costmap2DROS *
_costmap_ros
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a25422caa4e309a30ec9bd3c6ba6ecf11
costmap_2d::Costmap2D *
_costmap
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a1d489ed0638f8b5c79c25da45412e287
tf2_ros::Buffer *
_tf
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a49ed3fe140efb8e65bee57431c94313b
Controller
_controller
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae85e449b9f34d47432d0e72f192dff0e
ObstContainer
_obstacles
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a5b9346be9c948fe5aa3753e43c9b4b26
Publisher
_publisher
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ab87cbc475c9d61dfa7db2ec0bbbbbdc8
std::shared_ptr< base_local_planner::CostmapModel >
_costmap_model
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aefb28c2af70032be136bc020d18285a0
corbo::TimeSeries::Ptr
_x_seq
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a11989b1306daed30aaf693ecfe18da4c
corbo::TimeSeries::Ptr
_u_seq
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ab1136b4404cfb95bbc267323e9115241
std::vector< geometry_msgs::PoseStamped >
_global_plan
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a534961079af9a6666a7d3ca9927112a3
base_local_planner::OdometryHelperRos
_odom_helper
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a8b824a386a950f6963ca6e35c95f82d0
pluginlib::ClassLoader< costmap_converter::BaseCostmapToPolygons >
_costmap_converter_loader
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a4fe1f237abd881a5ad05811e2993cef4
boost::shared_ptr< costmap_converter::BaseCostmapToPolygons >
_costmap_converter
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a0f5b5212c9950af496bcfba3031cf22c
ros::Subscriber
_custom_obst_sub
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a8073bc50dc8a700f261956758e494ac4
std::mutex
_custom_obst_mutex
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a8129a71f7634e9807b747fdb641f05a2
costmap_converter::ObstacleArrayMsg
_custom_obstacle_msg
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a9f93add4c86375a418c7ea0e97360fab
ViaPointContainer
_via_points
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae21e3e0999d4f11c6ba793fc332a1662
ros::Subscriber
_via_points_sub
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a5845bda6273b0851cf8e4a89dffaa81f
bool
_custom_via_points_active
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a1f586d4d7a6d2ad512470d02d347e61c
std::mutex
_via_point_mutex
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a58a97adf4d0d3cec9a8331c7eab1a5b4
PoseSE2
_robot_pose
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a35ec092806190b71d117b4f6964f77a4
PoseSE2
_robot_goal
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aff7bb17a1edb960ae97e87c18adc871c
geometry_msgs::Twist
_robot_vel
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae46f16fead2f7dd4683219b5ea1a1e87
bool
_goal_reached
classmpc__local__planner_1_1MpcLocalPlannerROS.html
af1a08c1684652bdd1093f13e77bbc83a
ros::Time
_time_last_infeasible_plan
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a978b65d1ffa1225f84ca736b115a6571
int
_no_infeasible_plans
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ac986f6532c37b9a1de7ac2e819808563
geometry_msgs::Twist
_last_cmd
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a69b6a50ee67fc6c4afa44b21eefc531f
ros::Time
_time_last_cmd
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ab35c0712c5b1e1c7b9c894dc2a66c026
RobotFootprintModelPtr
_robot_model
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae7e8e912a25a6bc9db390715e40ecc6a
std::vector< geometry_msgs::Point >
_footprint_spec
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a255e9b05e09d0a9f0cf213b11858150a
double
_robot_inscribed_radius
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a41faf7227ff42a93c6bb6c2a30bb49dc
double
_robot_circumscribed_radius
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ac746aa7700c82841b1602a1f497b7569
std::string
_global_frame
classmpc__local__planner_1_1MpcLocalPlannerROS.html
af2ecdf5ae416833db08445331196b4f7
std::string
_robot_base_frame
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a777f2556ccdcb28cd52a8b12e231c86e
bool
_initialized
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aaceed186ca627f3172967f258068f73c
struct mpc_local_planner::MpcLocalPlannerROS::Parameters
_params
classmpc__local__planner_1_1MpcLocalPlannerROS.html
aa37ee520277ea26139efa4b6fa3c6d9e
struct mpc_local_planner::MpcLocalPlannerROS::CostmapConverterPlugin
_costmap_conv_params
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a769b601c4114a653330df642211f0b6e
static Eigen::Vector2d
tfPoseToEigenVector2dTransRot
classmpc__local__planner_1_1MpcLocalPlannerROS.html
af2ad5c51f1e528edad1198b5bf4e0150
(const tf::Pose &tf_vel)
static RobotFootprintModelPtr
getRobotFootprintFromParamServer
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a24c7a55d5899d2be776c7d8483e542e5
(const ros::NodeHandle &nh, costmap_2d::Costmap2DROS *costmap_ros=nullptr)
static RobotFootprintModelPtr
getRobotFootprintFromCostmap2d
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ae81092961ef1aeb99ba8315f48519a8d
(costmap_2d::Costmap2DROS &costmap_ros)
static Point2dContainer
makeFootprintFromXMLRPC
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a7a8e46e753fe044920dc9b8a46f1ac7e
(XmlRpc::XmlRpcValue &footprint_xmlrpc, const std::string &full_param_name)
static double
getNumberFromXMLRPC
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a90a53bdea68a7704cb750bcb2171c180
(XmlRpc::XmlRpcValue &value, const std::string &full_param_name)
void
updateObstacleContainerWithCostmap
classmpc__local__planner_1_1MpcLocalPlannerROS.html
afe2e539d6f76c9f0bd45f01b6d6aee4b
()
void
updateObstacleContainerWithCostmapConverter
classmpc__local__planner_1_1MpcLocalPlannerROS.html
acc284a5028bed270928ed0761680e4bb
()
void
updateObstacleContainerWithCustomObstacles
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a1d7ed9fd5ba4b402626ce55271787f64
()
void
updateViaPointsContainer
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a1a732bd753cd62b5c108f1dfc7cf19f3
(const std::vector< geometry_msgs::PoseStamped > &transformed_plan, double min_separation)
void
customObstacleCB
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a13e3ce93974c62591aa45d1c0b3628bb
(const costmap_converter::ObstacleArrayMsg::ConstPtr &obst_msg)
void
customViaPointsCB
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a0de6e28fcd52ba55f4d0e213afad43b4
(const nav_msgs::Path::ConstPtr &via_points_msg)
bool
pruneGlobalPlan
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a91a1abd79c7132000b6d1a12c8917363
(const tf2_ros::Buffer &tf, const geometry_msgs::PoseStamped &global_pose, std::vector< geometry_msgs::PoseStamped > &global_plan, double dist_behind_robot=1)
bool
transformGlobalPlan
classmpc__local__planner_1_1MpcLocalPlannerROS.html
a2c82e024ce0ef33887f96521333606ce
(const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const geometry_msgs::PoseStamped &global_pose, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, double max_plan_length, std::vector< geometry_msgs::PoseStamped > &transformed_plan, int *current_goal_idx=NULL, geometry_msgs::TransformStamped *tf_plan_to_global=NULL) const
double
estimateLocalGoalOrientation
classmpc__local__planner_1_1MpcLocalPlannerROS.html
acc2d8e4a38fdce043972983a36e19464
(const std::vector< geometry_msgs::PoseStamped > &global_plan, const geometry_msgs::PoseStamped &local_goal, int current_goal_idx, const geometry_msgs::TransformStamped &tf_plan_to_global, int moving_average_length=3) const
void
validateFootprints
classmpc__local__planner_1_1MpcLocalPlannerROS.html
ad527468066c474de2f96b0a73e06cbb4
(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist)
plot_optimal_control_results::OcpResultPlotter
classplot__optimal__control__results_1_1OcpResultPlotter.html
def
__init__
classplot__optimal__control__results_1_1OcpResultPlotter.html
ae58cde570fa8925cb37024bb489107ba
(self, plot_states, topic_name)
def
initializePlotWindows
classplot__optimal__control__results_1_1OcpResultPlotter.html
a872a60a5b255588f3ac58ca29993af03
(self)
def
ocp_result_callback
classplot__optimal__control__results_1_1OcpResultPlotter.html
a9ddfc613c3481e460710ad0039a3dcaa
(self, data)
def
plot
classplot__optimal__control__results_1_1OcpResultPlotter.html
adabadeecb587e6eadee4b52de55fdd04
(self)
def
start
classplot__optimal__control__results_1_1OcpResultPlotter.html
a936bf544f792c3ec9539c151931cf1c1
(self, rate)
dim_controls
classplot__optimal__control__results_1_1OcpResultPlotter.html
aa42b444d8aafc719917c0a1b1fbb4065
dim_states
classplot__optimal__control__results_1_1OcpResultPlotter.html
a99a5e21bc2c8197a299469ca11efb654
initialized
classplot__optimal__control__results_1_1OcpResultPlotter.html
a01cb70c195767528b2cb6b2e589cb8c6
mutex
classplot__optimal__control__results_1_1OcpResultPlotter.html
a44448019a9dc082d6cf19bffcb438873
plot_states
classplot__optimal__control__results_1_1OcpResultPlotter.html
ac80cfbc4e42fd9ea6885f9ae2cf744df
sub
classplot__optimal__control__results_1_1OcpResultPlotter.html
a4fe94efcf39837c4bbbfa17aa255592c
tu
classplot__optimal__control__results_1_1OcpResultPlotter.html
a127db7e09909c21bc934df014c11a05c
tx
classplot__optimal__control__results_1_1OcpResultPlotter.html
acfeb68390b46dedcd9eead68fbc78d7c
u
classplot__optimal__control__results_1_1OcpResultPlotter.html
a8434a3b71863c746fb6a0eb5f6da1dc8
u_axes
classplot__optimal__control__results_1_1OcpResultPlotter.html
aeb1bfe55e3a0aaf91d78ecaf343e1ba3
u_fig
classplot__optimal__control__results_1_1OcpResultPlotter.html
aba6da9ed69475bc17ca6db76afeb59d7
x
classplot__optimal__control__results_1_1OcpResultPlotter.html
a4b0e22c419991bec93725f837062e9a4
x_axes
classplot__optimal__control__results_1_1OcpResultPlotter.html
a3189f991eca5c908f4a3d88e3d60ffed
x_fig
classplot__optimal__control__results_1_1OcpResultPlotter.html
a0236020309c37b263583fbf78af8b44e
mpc_local_planner::MpcLocalPlannerROS::Parameters
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
double
collision_check_min_resolution_angular
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a294af2fc16d1d02347f749342d9d0f6f
int
collision_check_no_poses
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
ab0e0857707915270748e0710d00d0d1b
double
controller_frequency
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
ae899f5911995cafdd416483222affe07
double
costmap_obstacles_behind_robot_dist
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a13788fbb76df25486debefcb7ca93b04
bool
global_plan_overwrite_orientation
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a2adb9380a0cdc7d0ca6507e2c967a192
double
global_plan_prune_distance
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a7308d7fb0fc9c1118135d2e51c2d661a
double
global_plan_viapoint_sep
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
af04788a67dc3f2fc98878e1f2763d829
bool
include_costmap_obstacles
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a04c5562042bb50a260a74b1551f166e8
bool
is_footprint_dynamic
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a91fcedb6d834a35ca0c622d432e652ed
double
max_global_plan_lookahead_dist
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
ace081d32e3c0e0ad550690f684c02b87
std::string
odom_topic
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
a3671241497410b6a32604d6b2f167697
double
xy_goal_tolerance
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
abed06117868db836742de3fa97bbec12
double
yaw_goal_tolerance
structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html
af97803b2a9f10c7a1621a5283b7aa0f0
mpc_local_planner::PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
mpc_local_planner::VectorVertexSE2
std::shared_ptr< PartiallyFixedVectorVertexSE2 >
Ptr
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
aa90c58ccd3082034e7d02b5aa179662e
std::unique_ptr< PartiallyFixedVectorVertexSE2 >
UPtr
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a543b1111ca366474924fcbd4e7afa799
const Eigen::Array< bool, -1, 1 >
fixedArray
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a2b14105f26414c8fdfd2f65c64cf0559
() const
int
getDimensionUnfixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a66f15b68ad446259dd3d1487dcd5dca1
() const override
int
getNumberFiniteBounds
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a299c377b2e03d3579ff1253ca4126250
(bool unfixed_only) const override
int
getNumberFiniteLowerBounds
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a24969e244ed580482e205be83a71be13
(bool unfixed_only) const override
int
getNumberFiniteUpperBounds
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a7d1b6e3bb514825a224d5747b326bbac
(bool unfixed_only) const override
bool
hasFixedComponents
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
abbf0f4c32686f133507299b7da1ae7d6
() const override
bool
isFixedComponent
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
afcce6658647b9b34436db6ee62424f88
(int idx) const override
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a0cc86674db0c2790c9c4b53f7607f3b3
()=default
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
aaa02808789b8c3a885afd3f096e2c653
(const Eigen::Ref< const Eigen::VectorXd > &values)
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
ae400a0985d8c62d9632e270fada3832e
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a07ccfafedc99dbce0f9f9884d9f4d7cf
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a00ca09b230a5c644447c3f5876d65f09
(int dimension)
PartiallyFixedVectorVertexSE2
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a0b99bbaadb3bb1d676517be5099f4e1b
(int dimension, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
void
plusUnfixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a8d2211f8f51893f1979fca3b2e5580cc
(const double *inc) override
void
set
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a1e49bbd34eda9c73ca7c64c640f23952
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false) override
void
set
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
afd16fe017df0fff7d60a742d859c5289
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
void
setDimension
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a92a1e4344cd04031b7eda30db0aceece
(int dim) override
void
setFixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a23d491e319bdb76f95b1ac70867f9b79
(bool fixed) override
void
setFixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
aafd2f219ba91c7bb818278638ce3325a
(const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
void
setFixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a5f41655819cac40376f8b4a777652b83
(int idx, bool fixed)
Eigen::Array< bool, -1, 1 >
_fixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a616ed2c538576c18668ea683bc2cac78
int
_num_unfixed
classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html
a3f2e75e64560499b9d2d62064f7bfed6
mpc_local_planner::Publisher
classmpc__local__planner_1_1Publisher.html
void
initialize
classmpc__local__planner_1_1Publisher.html
a4b9ab4f7ee1c76a1525dc8a2ca3a2d39
(ros::NodeHandle &nh, RobotDynamicsInterface::Ptr system, const std::string &map_frame)
Publisher
classmpc__local__planner_1_1Publisher.html
a9c0e671efc7cbdb75653fc2e110f91be
()=default
Publisher
classmpc__local__planner_1_1Publisher.html
a48d90021460c809330bd5f902d24c2f0
(ros::NodeHandle &nh, RobotDynamicsInterface::Ptr system, const std::string &map_frame)
void
publishGlobalPlan
classmpc__local__planner_1_1Publisher.html
a485463be81997f52da6ca7640df70203
(const std::vector< geometry_msgs::PoseStamped > &global_plan) const
void
publishLocalPlan
classmpc__local__planner_1_1Publisher.html
a934996b978ef47e833afb9c36f30e105
(const corbo::TimeSeries &ts) const
void
publishLocalPlan
classmpc__local__planner_1_1Publisher.html
a37b59194f189ef8f8602009166e0085b
(const std::vector< geometry_msgs::PoseStamped > &local_plan) const
void
publishObstacles
classmpc__local__planner_1_1Publisher.html
a3c5ee754e66abe3666ef24062e0da1b9
(const teb_local_planner::ObstContainer &obstacles) const
void
publishRobotFootprintModel
classmpc__local__planner_1_1Publisher.html
a6392792897de9d68b2de811ebab5c99f
(const teb_local_planner::PoseSE2 ¤t_pose, const teb_local_planner::BaseRobotFootprintModel &robot_model, const std::string &ns="RobotFootprintModel", const std_msgs::ColorRGBA &color=toColorMsg(0.5, 0.0, 0.8, 0.0))
void
publishViaPoints
classmpc__local__planner_1_1Publisher.html
a3dbff49002ce5704eff2bdff87a3b8f9
(const std::vector< teb_local_planner::PoseSE2 > &via_points, const std::string &ns="ViaPoints") const
static std_msgs::ColorRGBA
toColorMsg
classmpc__local__planner_1_1Publisher.html
a2763aada8d0deefc6fa4256226f11568
(float a, float r, float g, float b)
teb_local_planner::CircularObstacle
CircularObstacle
classmpc__local__planner_1_1Publisher.html
aac408eec828d4cc9d1ff04977929991d
teb_local_planner::LineObstacle
LineObstacle
classmpc__local__planner_1_1Publisher.html
a8af05f7560352c3517158c26a37cf32f
teb_local_planner::ObstaclePtr
ObstaclePtr
classmpc__local__planner_1_1Publisher.html
a81d1a6b0374d90bd6c05fa68b20899b0
teb_local_planner::ObstContainer
ObstContainer
classmpc__local__planner_1_1Publisher.html
affa4bb651c8d4aeb65cf6db7808dd208
teb_local_planner::Point2dContainer
Point2dContainer
classmpc__local__planner_1_1Publisher.html
a6b6344e79d1f495dbca40bc8f1f4792b
teb_local_planner::PointObstacle
PointObstacle
classmpc__local__planner_1_1Publisher.html
ae868c172676b48874d44a91cbecb4441
teb_local_planner::PolygonObstacle
PolygonObstacle
classmpc__local__planner_1_1Publisher.html
a04f538f376f3ab16c01aa392337e506a
ros::Publisher
_global_plan_pub
classmpc__local__planner_1_1Publisher.html
a5e80773d98361def80457bb9434ef7f4
bool
_initialized
classmpc__local__planner_1_1Publisher.html
aff6f8cb639960d3116d13d4026ece987
ros::Publisher
_local_plan_pub
classmpc__local__planner_1_1Publisher.html
af734494ae63f7174b4e3728c2c9d2257
std::string
_map_frame
classmpc__local__planner_1_1Publisher.html
a97915992f5b5b486b0d759327c0cb220
ros::Publisher
_mpc_marker_pub
classmpc__local__planner_1_1Publisher.html
aa145b288302d9777c9ab650ed9b27b2e
RobotDynamicsInterface::Ptr
_system
classmpc__local__planner_1_1Publisher.html
aead61a17170cdd3e8977a06483784c01
mpc_local_planner::QuadraticFinalStateCostSE2
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
corbo::QuadraticFinalStateCost
std::shared_ptr< QuadraticFinalStateCostSE2 >
Ptr
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
a5b14d239769b3373a7a915b716190c4c
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
a11129c89390218110af5d9a90731fe93
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::FinalStageCost::Ptr
getInstance
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
a468223f9fda2646e0b01084b3eb3c305
() const override
QuadraticFinalStateCostSE2
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
a395a95c73338641451a2dc6b607d1b52
()
QuadraticFinalStateCostSE2
classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html
acd642378b90b3fbd5f19b097a9a97a7a
(const Eigen::Ref< const Eigen::MatrixXd > &Qf, bool lsq_form=false)
mpc_local_planner::QuadraticFormCostSE2
classmpc__local__planner_1_1QuadraticFormCostSE2.html
corbo::QuadraticFormCost
std::shared_ptr< QuadraticFormCostSE2 >
Ptr
classmpc__local__planner_1_1QuadraticFormCostSE2.html
a5e425a69b588e90a9d9887abb1955276
void
computeIntegralStateControlTerm
classmpc__local__planner_1_1QuadraticFormCostSE2.html
a52c08f4d49706574d58926de0f23d712
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1QuadraticFormCostSE2.html
abb199ded2bbd59aef22449f4dadf26e9
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::StageCost::Ptr
getInstance
classmpc__local__planner_1_1QuadraticFormCostSE2.html
a3bc1c582977a9a231a1ba2eef0d46903
() const override
QuadraticFormCostSE2
classmpc__local__planner_1_1QuadraticFormCostSE2.html
a98fb4cd235173de93feb4f2f276cdb90
()
QuadraticFormCostSE2
classmpc__local__planner_1_1QuadraticFormCostSE2.html
ad15f2df18287efdd4e13e0fd0bf4d567
(const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::MatrixXd > &R, bool integral_form=false, bool lsq_form=false)
mpc_local_planner::QuadraticStateCostSE2
classmpc__local__planner_1_1QuadraticStateCostSE2.html
corbo::QuadraticStateCost
std::shared_ptr< QuadraticStateCostSE2 >
Ptr
classmpc__local__planner_1_1QuadraticStateCostSE2.html
ade205c7774202c150081dd6badd0d262
void
computeIntegralStateControlTerm
classmpc__local__planner_1_1QuadraticStateCostSE2.html
afb6dedda34d84854bfa5803e8fb02294
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1QuadraticStateCostSE2.html
a221dcc6d089a415c9746075e4a0f2f54
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::StageCost::Ptr
getInstance
classmpc__local__planner_1_1QuadraticStateCostSE2.html
a4ab2f9379dce7611f5180b7879aef944
() const override
QuadraticStateCostSE2
classmpc__local__planner_1_1QuadraticStateCostSE2.html
a923ea398276b1c127e8169764c01fae8
()
QuadraticStateCostSE2
classmpc__local__planner_1_1QuadraticStateCostSE2.html
ae555485525305990203403a1b776336e
(const Eigen::Ref< const Eigen::MatrixXd > &Q, bool integral_form=false, bool lsq_form=false)
mpc_local_planner::RobotDynamicsInterface
classmpc__local__planner_1_1RobotDynamicsInterface.html
corbo::SystemDynamicsInterface
std::shared_ptr< RobotDynamicsInterface >
Ptr
classmpc__local__planner_1_1RobotDynamicsInterface.html
a242bb8f18e5635f761c584751c73a3c3
virtual void
getPoseSE2FromState
classmpc__local__planner_1_1RobotDynamicsInterface.html
a4435a8fea8e4b597136f63a34cff0b5c
(const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y, double &theta) const =0
virtual void
getPoseSE2FromState
classmpc__local__planner_1_1RobotDynamicsInterface.html
a57be56ebab900a3083c73277d87ee5ea
(const Eigen::Ref< const Eigen::VectorXd > &x, teb_local_planner::PoseSE2 &pose) const
virtual void
getPositionFromState
classmpc__local__planner_1_1RobotDynamicsInterface.html
a0d3469a5c6edebfeb1804e83bf81c1d9
(const Eigen::Ref< const Eigen::VectorXd > &x, double &pos_x, double &pos_y) const =0
virtual void
getSteadyStateFromPoseSE2
classmpc__local__planner_1_1RobotDynamicsInterface.html
a604abb7d1c9fc4dc741a4619a36337d6
(const teb_local_planner::PoseSE2 &pose, Eigen::Ref< Eigen::VectorXd > x) const
virtual void
getSteadyStateFromPoseSE2
classmpc__local__planner_1_1RobotDynamicsInterface.html
ad503bfb0cf41a1a0a1e06cc3d94085c1
(double pos_x, double pos_y, double theta, Eigen::Ref< Eigen::VectorXd > x) const =0
virtual bool
getTwistFromControl
classmpc__local__planner_1_1RobotDynamicsInterface.html
abf6510710756e9b140e042554dc1037d
(const Eigen::Ref< const Eigen::VectorXd > &u, geometry_msgs::Twist &twist) const =0
virtual bool
mergeStateFeedbackAndOdomFeedback
classmpc__local__planner_1_1RobotDynamicsInterface.html
a065565df54b849f9a767cb9b589661eb
(const teb_local_planner::PoseSE2 &odom_pose, const geometry_msgs::Twist &odom_twist, Eigen::Ref< Eigen::VectorXd > x) const =0
virtual void
reset
classmpc__local__planner_1_1RobotDynamicsInterface.html
a0512b7eb920c91ebc8d014ebc295b16f
()
mpc_local_planner::SimpleCarFrontWheelDrivingModel
classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html
mpc_local_planner::SimpleCarModel
void
dynamics
classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html
a0f4ef4477075e82a03cf22ed1de73e25
(const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
SystemDynamicsInterface::Ptr
getInstance
classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html
a744294ba78e017d3aa7d8bf87bba2a08
() const override
SimpleCarFrontWheelDrivingModel
classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html
ae80104ba3104e7ca037542ac6d25bf37
()=default
SimpleCarFrontWheelDrivingModel
classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html
ae5a6fbfcc2370e9f439430d53fdaed52
(double wheelbase)
mpc_local_planner::SimpleCarModel
classmpc__local__planner_1_1SimpleCarModel.html
mpc_local_planner::BaseRobotSE2
void
dynamics
classmpc__local__planner_1_1SimpleCarModel.html
acfbaa51eec3affd3ce1dc63879a576e3
(const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
int
getInputDimension
classmpc__local__planner_1_1SimpleCarModel.html
a37f5fd4d9dc38d1740d7efe3a65e7c21
() const override
SystemDynamicsInterface::Ptr
getInstance
classmpc__local__planner_1_1SimpleCarModel.html
a105a9e0aa1dd05b3e5d313defb92359c
() const override
bool
getTwistFromControl
classmpc__local__planner_1_1SimpleCarModel.html
abb30d1ed9e5f11267d32198799bd1fbe
(const Eigen::Ref< const Eigen::VectorXd > &u, geometry_msgs::Twist &twist) const override
double
getWheelbase
classmpc__local__planner_1_1SimpleCarModel.html
a0aaa4400e1a6ded21a3416f87057f407
() const
void
setWheelbase
classmpc__local__planner_1_1SimpleCarModel.html
a4d1fe713df40f876b031e8b7b5f6affb
(double wheelbase)
SimpleCarModel
classmpc__local__planner_1_1SimpleCarModel.html
a46de50ad854fbc0bfe1563c47733aa53
()=default
SimpleCarModel
classmpc__local__planner_1_1SimpleCarModel.html
ab87a7c81a8dd62cca66466ea0a085cc1
(double wheelbase)
double
_wheelbase
classmpc__local__planner_1_1SimpleCarModel.html
a1d15ae7d04eb4e7f884d7dde38b9f618
mpc_local_planner::StageInequalitySE2
classmpc__local__planner_1_1StageInequalitySE2.html
corbo::StageInequalityConstraint
teb_local_planner::ObstaclePtr
ObstaclePtr
classmpc__local__planner_1_1StageInequalitySE2.html
aa72ca7dc42cfe243f6108700b0147933
std::shared_ptr< StageInequalitySE2 >
Ptr
classmpc__local__planner_1_1StageInequalitySE2.html
a42c70f380954cc0ff17f0dd30f45e9a9
void
computeNonIntegralControlDeviationTerm
classmpc__local__planner_1_1StageInequalitySE2.html
ae2d799478a889e3e57f57729f01a6998
(int k, const Eigen::Ref< const Eigen::VectorXd > &u_k, const Eigen::Ref< const Eigen::VectorXd > &u_prev, double dt, Eigen::Ref< Eigen::VectorXd > cost) const override
void
computeNonIntegralStateDtTerm
classmpc__local__planner_1_1StageInequalitySE2.html
a0ccc3299fc03345a6379ca6c56ebb7cb
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const override
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1StageInequalitySE2.html
a9f3c05d404992c387fa2ebf3cd17f910
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::StageInequalityConstraint::Ptr
getInstance
classmpc__local__planner_1_1StageInequalitySE2.html
a2973896ef4bd591680fbbccf805ae5b6
() const override
double
getMinimumDistance
classmpc__local__planner_1_1StageInequalitySE2.html
a28c40c3b0b03071a8c1d297594703a26
() const
int
getNonIntegralControlDeviationTermDimension
classmpc__local__planner_1_1StageInequalitySE2.html
a80c82a17729d2747fcac43cf8d40ad8b
(int k) const override
int
getNonIntegralStateDtTermDimension
classmpc__local__planner_1_1StageInequalitySE2.html
a29b517df72303046221ce66f662311ec
(int k) const override
int
getNonIntegralStateTermDimension
classmpc__local__planner_1_1StageInequalitySE2.html
a3a0acf32360dc3ca156691a0a57e2f3e
(int k) const override
bool
hasIntegralTerms
classmpc__local__planner_1_1StageInequalitySE2.html
aa9cc64617ee02ccfeaa9e0371411dd72
(int k) const override
bool
hasNonIntegralTerms
classmpc__local__planner_1_1StageInequalitySE2.html
a3621d8fc6c79467c2e179f713baac468
(int k) const override
void
setControlDeviationBounds
classmpc__local__planner_1_1StageInequalitySE2.html
aef68d209b8a5134a9501f62dec6d3bbd
(const Eigen::VectorXd &du_lb, const Eigen::VectorXd &du_ub)
void
setEnableDynamicObstacles
classmpc__local__planner_1_1StageInequalitySE2.html
a9b36c7229234c9e9f2c3377b91e94502
(bool enable_dyn_obst)
void
setMinimumDistance
classmpc__local__planner_1_1StageInequalitySE2.html
a7f17c4dd549d83a5c0016428e31ff025
(double min_dist)
void
setObstacleFilterParameters
classmpc__local__planner_1_1StageInequalitySE2.html
a203e10ca6759df06762e72a8063b69da
(double force_inclusion_dist, double cutoff_dist)
void
setObstacleVector
classmpc__local__planner_1_1StageInequalitySE2.html
a9dee5b3581e58c744e59f9a819181c53
(const teb_local_planner::ObstContainer &obstacles)
void
setRobotFootprintModel
classmpc__local__planner_1_1StageInequalitySE2.html
a41199e7f683e81b292a1fa3794839942
(teb_local_planner::RobotFootprintModelPtr robot_model)
bool
update
classmpc__local__planner_1_1StageInequalitySE2.html
ae14fc18d8da91f348e30b3363753ac46
(int n, double, corbo::ReferenceTrajectoryInterface &, corbo::ReferenceTrajectoryInterface &, corbo::ReferenceTrajectoryInterface *, bool, const Eigen::VectorXd &x0, corbo::StagePreprocessor::Ptr, const std::vector< double > &, const corbo::DiscretizationGridInterface *grid) override
double
_current_dt
classmpc__local__planner_1_1StageInequalitySE2.html
a3c8c3a52c098781bfb5b4897f4404545
Eigen::VectorXd
_du_lb
classmpc__local__planner_1_1StageInequalitySE2.html
aa2ac58b0627e09a0aee14e2380d4b433
Eigen::VectorXd
_du_ub
classmpc__local__planner_1_1StageInequalitySE2.html
a27f3218b7636a6afd2d7f4e68fd67609
bool
_enable_dynamic_obstacles
classmpc__local__planner_1_1StageInequalitySE2.html
a25cedfe1a422e257a918e1d5bf42964e
double
_min_obstacle_dist
classmpc__local__planner_1_1StageInequalitySE2.html
a8a1360218ae2df7ba5546239a86f05c2
int
_num_du_lb_finite
classmpc__local__planner_1_1StageInequalitySE2.html
a69406891985cdc8ca849e23bfbe916b7
int
_num_du_ub_finite
classmpc__local__planner_1_1StageInequalitySE2.html
a69bea91abcb1d9eaa8ef6f17589baad9
double
_obstacle_filter_cutoff_dist
classmpc__local__planner_1_1StageInequalitySE2.html
ac42211c6ad598375cda674e6a2350a75
double
_obstacle_filter_force_inclusion_dist
classmpc__local__planner_1_1StageInequalitySE2.html
a81e2ead64469e22f93dc42696d0c099c
const teb_local_planner::ObstContainer *
_obstacles
classmpc__local__planner_1_1StageInequalitySE2.html
a187d9d2ba5a72c12e0c277a8142f856c
std::vector< teb_local_planner::ObstContainer >
_relevant_dyn_obstacles
classmpc__local__planner_1_1StageInequalitySE2.html
aeab58989087072ef1baec3d18336285e
std::vector< teb_local_planner::ObstContainer >
_relevant_obstacles
classmpc__local__planner_1_1StageInequalitySE2.html
ad471e452402d23307dda47452d3a7270
teb_local_planner::RobotFootprintModelPtr
_robot_model
classmpc__local__planner_1_1StageInequalitySE2.html
aa8ca732658f5e01a88398b370efe3b06
mpc_local_planner::TerminalBallSE2
classmpc__local__planner_1_1TerminalBallSE2.html
corbo::TerminalBall
std::shared_ptr< TerminalBallSE2 >
Ptr
classmpc__local__planner_1_1TerminalBallSE2.html
afd671e451dc3a7565c9bc63f7dda7101
void
computeNonIntegralStateTerm
classmpc__local__planner_1_1TerminalBallSE2.html
abb4b92aa5b50842e6eab680ca6339f2f
(int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
corbo::FinalStageConstraint::Ptr
getInstance
classmpc__local__planner_1_1TerminalBallSE2.html
a4973b7ec89a2b44fb660a4a4ee788fe9
() const override
TerminalBallSE2
classmpc__local__planner_1_1TerminalBallSE2.html
a461abf3b2797a4b6baf172310c2f43e9
()
TerminalBallSE2
classmpc__local__planner_1_1TerminalBallSE2.html
aba8b21b20aff57c99e084b977f64f611
(const Eigen::Ref< const Eigen::MatrixXd > &S, double gamma)
TestMpcOptimNode
classTestMpcOptimNode.html
void
start
classTestMpcOptimNode.html
ad62393494145528557f4d3330c7c341c
(ros::NodeHandle &nh)
TestMpcOptimNode
classTestMpcOptimNode.html
a45bcd7c1e113476ec2252b5909d312f3
()=default
void
CB_clicked_points
classTestMpcOptimNode.html
a97e23a442ff2e8bf295f1d7a66fc462b
(const geometry_msgs::PointStampedConstPtr &point_msg)
void
CB_customObstacle
classTestMpcOptimNode.html
a13a5f5f2d52cceae226a01f695dc2d2c
(const costmap_converter::ObstacleArrayMsg::ConstPtr &obst_msg)
void
CB_obstacle_marker
classTestMpcOptimNode.html
a7ccbea36b13a8399614f17114e407be9
(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void
CB_via_points
classTestMpcOptimNode.html
a9e8d218cabd678e3cd2088f097315ba9
(const nav_msgs::Path::ConstPtr &via_points_msg)
void
CreateInteractiveMarker
classTestMpcOptimNode.html
a1729a64c405481430e9ff82eab685e39
(const double &init_x, const double &init_y, unsigned int id, std::string frame, interactive_markers::InteractiveMarkerServer *marker_server)
int
_no_fixed_obstacles
classTestMpcOptimNode.html
af30bc807d11b92a5b3868b301b334c74
teb_local_planner::ObstContainer
_obstacles
classTestMpcOptimNode.html
ad5fe74c7502134aa54b23ba78efde464
std::vector< teb_local_planner::PoseSE2 >
_via_points
classTestMpcOptimNode.html
aa0e491d39e693dab65a66fba27c4c02c
mpc_local_planner::TimeSeriesSE2
classmpc__local__planner_1_1TimeSeriesSE2.html
corbo::TimeSeries
std::shared_ptr< const TimeSeriesSE2 >
ConstPtr
classmpc__local__planner_1_1TimeSeriesSE2.html
a0d51acf6204d9d2c30b3039294aaefc4
std::shared_ptr< TimeSeriesSE2 >
Ptr
classmpc__local__planner_1_1TimeSeriesSE2.html
a2cf8d246b2f1aefbb7ec59d0f7ccc774
void
computeMeanCwise
classmpc__local__planner_1_1TimeSeriesSE2.html
aa4aa28216f7790df9f6976df63d757c1
(Eigen::Ref< Eigen::VectorXd > mean_values) override
double
computeMeanOverall
classmpc__local__planner_1_1TimeSeriesSE2.html
afb07f6418faf0388c43f4847e5b09ac3
() override
bool
getValuesInterpolate
classmpc__local__planner_1_1TimeSeriesSE2.html
a1208408904596ac3adb7d07fb9c13978
(double time, Eigen::Ref< Eigen::VectorXd > values, Interpolation interpolation=Interpolation::Linear, Extrapolation extrapolate=Extrapolation::NoExtrapolation, double tolerance=1e-6) const override
TimeSeriesSE2
classmpc__local__planner_1_1TimeSeriesSE2.html
a91a27ef29b48c126afceb3be36b0652b
()=default
TimeSeriesSE2
classmpc__local__planner_1_1TimeSeriesSE2.html
a9e989a176bb35c540d0b18d1a92e198d
(int value_dim)
mpc_local_planner::UnicycleModel
classmpc__local__planner_1_1UnicycleModel.html
mpc_local_planner::BaseRobotSE2
void
dynamics
classmpc__local__planner_1_1UnicycleModel.html
a90c1ce59ca5fe54b833377000d262624
(const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
int
getInputDimension
classmpc__local__planner_1_1UnicycleModel.html
ae02fcf10f4c91336a0c83e89b977bfa3
() const override
SystemDynamicsInterface::Ptr
getInstance
classmpc__local__planner_1_1UnicycleModel.html
a1d1c19308823a9851d5ae9b3e9b4d46f
() const override
bool
getTwistFromControl
classmpc__local__planner_1_1UnicycleModel.html
aaa607cebbd004d8454b8c0d5f15d8994
(const Eigen::Ref< const Eigen::VectorXd > &u, geometry_msgs::Twist &twist) const override
UnicycleModel
classmpc__local__planner_1_1UnicycleModel.html
a700695a2fffd97d7d6eb59c771f7f831
()=default
mpc_local_planner::VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
corbo::VectorVertex
std::shared_ptr< VectorVertexSE2 >
Ptr
classmpc__local__planner_1_1VectorVertexSE2.html
a570f88786191062611cfc364dd8294ca
std::unique_ptr< VectorVertexSE2 >
UPtr
classmpc__local__planner_1_1VectorVertexSE2.html
a1ae5dd870994090e662e1a0a952fa2d1
void
plus
classmpc__local__planner_1_1VectorVertexSE2.html
a7befadc852e25c4937d7bec4eac81ea8
(const double *inc) override
void
plus
classmpc__local__planner_1_1VectorVertexSE2.html
aefa0ce72a2e498cc005a21329422f567
(int idx, double inc) override
void
plusUnfixed
classmpc__local__planner_1_1VectorVertexSE2.html
a116949a3a72a5c40639a9f0b70734af3
(const double *inc) override
virtual void
set
classmpc__local__planner_1_1VectorVertexSE2.html
a741f04cfbb256c23d417a2a4360285ee
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
void
setData
classmpc__local__planner_1_1VectorVertexSE2.html
a405ba5c4018c941f50dbc0f714a5daa2
(int idx, double data) override
VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
a117d3a71fdf7ae3590761ac532ce1abb
()=default
VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
a06adbc0d4af16967fc2fa91139aee5cc
(bool fixed)
VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
adb9df0e1b3a7ab07b55153070e9eb849
(const Eigen::Ref< const Eigen::VectorXd > &values, bool fixed=false)
VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
a975420fe9b3767be746c25fb3ce2aaf4
(const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
VectorVertexSE2
classmpc__local__planner_1_1VectorVertexSE2.html
ac91c424742115575db5d96e33fef9e25
(int dimension, bool fixed=false)
mpc_local_planner
namespacempc__local__planner.html
mpc_local_planner::BaseRobotSE2
mpc_local_planner::Controller
mpc_local_planner::CrankNicolsonDiffCollocationSE2
mpc_local_planner::FiniteDifferencesGridSE2
mpc_local_planner::FiniteDifferencesVariableGridSE2
mpc_local_planner::ForwardDiffCollocationSE2
mpc_local_planner::FullDiscretizationGridBaseSE2
mpc_local_planner::KinematicBicycleModelVelocityInput
mpc_local_planner::MidpointDiffCollocationSE2
mpc_local_planner::MinTimeViaPointsCost
mpc_local_planner::MpcLocalPlannerROS
mpc_local_planner::PartiallyFixedVectorVertexSE2
mpc_local_planner::Publisher
mpc_local_planner::QuadraticFinalStateCostSE2
mpc_local_planner::QuadraticFormCostSE2
mpc_local_planner::QuadraticStateCostSE2
mpc_local_planner::RobotDynamicsInterface
mpc_local_planner::SimpleCarFrontWheelDrivingModel
mpc_local_planner::SimpleCarModel
mpc_local_planner::StageInequalitySE2
mpc_local_planner::TerminalBallSE2
mpc_local_planner::TimeSeriesSE2
mpc_local_planner::UnicycleModel
mpc_local_planner::VectorVertexSE2
double
average_angles
namespacempc__local__planner.html
aadc1e5461781697ccecdb14204fffc00
(const std::vector< double > &angles)
void
convert
namespacempc__local__planner.html
ae1f0f6c5852aad8694e4103f7e727962
(const corbo::TimeSeries &time_series, const RobotDynamicsInterface &dynamics, std::vector< geometry_msgs::PoseStamped > &poses_stamped, const std::string &frame_id)
double
cross2d
namespacempc__local__planner.html
a678674beefe674b469e31054f5c5c16b
(const V1 &v1, const V2 &v2)
double
distance_points2d
namespacempc__local__planner.html
acc33a70e04de290389f60c009c10be5b
(const P1 &point1, const P2 &point2)
double
distance_points2d
namespacempc__local__planner.html
afe138b9d96ccbf71d9e202473f0b4d37
(double x1, double y1, double x2, double y2)
double
interpolate_angle
namespacempc__local__planner.html
a7e4107f6c21fccbd3523abd425a68e70
(double angle1, double angle2, double factor)
double
normalize_theta
namespacempc__local__planner.html
a5271401803bb4e96cab06de13fdd4aea
(double theta)
plot_optimal_control_results
namespaceplot__optimal__control__results.html
plot_optimal_control_results::OcpResultPlotter
anonymous
namespaceplot__optimal__control__results.html
ae032f3f719f8cd1137245c0c2b5040db
plot_states
namespaceplot__optimal__control__results.html
afbfb87468d340ac23f0d97abe87a7cf2
int
rate
namespaceplot__optimal__control__results.html
ae4c125853e795ca9b481f4642ed0a061
result_plotter
namespaceplot__optimal__control__results.html
a60d99a70a4bb6760302e6ded4b17221b
string
topic_name
namespaceplot__optimal__control__results.html
a04e8fead5b281b118374ac5f802aa9c5