Public Member Functions | Protected Attributes | List of all members
teb_local_planner::EdgeInflatedObstacle Class Reference

Edge defining the cost function for keeping a minimum distance from inflated obstacles. More...

#include <edge_obstacle.h>

Inheritance diagram for teb_local_planner::EdgeInflatedObstacle:
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Public Member Functions

void computeError ()
 Actual cost function. More...
 
 EdgeInflatedObstacle ()
 Construct edge. More...
 
void setObstacle (const Obstacle *obstacle)
 Set pointer to associated obstacle for the underlying cost function. More...
 
void setParameters (const TebConfig &cfg, const BaseRobotFootprintModel *robot_model, const Obstacle *obstacle)
 Set all parameters at once. More...
 
void setRobotModel (const BaseRobotFootprintModel *robot_model)
 Set pointer to the robot model. More...
 
- Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
 BaseTebUnaryEdge ()
 Construct edge. More...
 
ErrorVector & getError ()
 Compute and return error / cost value. More...
 
virtual bool read (std::istream &is)
 Read values from input stream. More...
 
void setTebConfig (const TebConfig &cfg)
 Assign the TebConfig class for parameters. More...
 
virtual bool write (std::ostream &os) const
 Write values to an output stream. More...
 
virtual ~BaseTebUnaryEdge ()
 Destruct edge. More...
 

Protected Attributes

const BaseRobotFootprintModelrobot_model_
 Store pointer to robot_model. More...
 
- Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 2, const Obstacle *, VertexPose >
const TebConfigcfg_
 Store TebConfig class for parameters. More...
 

Detailed Description

Edge defining the cost function for keeping a minimum distance from inflated obstacles.

The edge depends on a single vertex $ \mathbf{s}_i $ and minimizes:
$ \min \textrm{penaltyBelow}( dist2point, min_obstacle_dist ) \cdot weight_inflation $.
Additional, a second penalty is provided with
$ \min \textrm{penaltyBelow}( dist2point, inflation_dist ) \cdot weight_inflation $. It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. dist2point denotes the minimum distance to the point obstacle.
penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also
TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle
Remarks
Do not forget to call setTebConfig() and setObstacle()

Definition at line 198 of file edge_obstacle.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeInflatedObstacle::EdgeInflatedObstacle ( )
inline

Construct edge.

Definition at line 205 of file edge_obstacle.h.

Member Function Documentation

void teb_local_planner::EdgeInflatedObstacle::computeError ( )
inline

Actual cost function.

Definition at line 213 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setObstacle ( const Obstacle obstacle)
inline

Set pointer to associated obstacle for the underlying cost function.

Parameters
obstacle2D position vector containing the position of the obstacle

Definition at line 231 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setParameters ( const TebConfig cfg,
const BaseRobotFootprintModel robot_model,
const Obstacle obstacle 
)
inline

Set all parameters at once.

Parameters
cfgTebConfig class
robot_modelRobot model required for distance calculation
obstacle2D position vector containing the position of the obstacle

Definition at line 251 of file edge_obstacle.h.

void teb_local_planner::EdgeInflatedObstacle::setRobotModel ( const BaseRobotFootprintModel robot_model)
inline

Set pointer to the robot model.

Parameters
robot_modelRobot model required for distance calculation

Definition at line 240 of file edge_obstacle.h.

Member Data Documentation

const BaseRobotFootprintModel* teb_local_planner::EdgeInflatedObstacle::robot_model_
protected

Store pointer to robot_model.

Definition at line 260 of file edge_obstacle.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 5 2019 19:25:10