Public Member Functions | List of all members
teb_local_planner::EdgeTimeOptimal Class Reference

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

#include <edge_time_optimal.h>

Inheritance diagram for teb_local_planner::EdgeTimeOptimal:
Inheritance graph
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Public Member Functions

void computeError ()
 Actual cost function. More...
 
 EdgeTimeOptimal ()
 Construct edge. More...
 
- Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 1, double, VertexTimeDiff >
 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...
 

Additional Inherited Members

- Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 1, double, VertexTimeDiff >
const TebConfigcfg_
 Store TebConfig class for parameters. More...
 

Detailed Description

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

The edge depends on a single vertex $ \Delta T_i $ and minimizes:
$ \min \Delta T_i^2 \cdot scale \cdot weight $.
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.

Constructor & Destructor Documentation

teb_local_planner::EdgeTimeOptimal::EdgeTimeOptimal ( )
inline

Construct edge.

Definition at line 80 of file edge_time_optimal.h.

Member Function Documentation

void teb_local_planner::EdgeTimeOptimal::computeError ( )
inline

Actual cost function.

Definition at line 88 of file edge_time_optimal.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