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

Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta. More...

#include <edge_velocity.h>

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

void computeError ()
 Actual cost function. More...
 
 EdgeVelocityHolonomic ()
 Construct edge. More...
 
- Public Member Functions inherited from teb_local_planner::BaseTebMultiEdge< 3, double >
 BaseTebMultiEdge ()
 Construct edge. More...
 
ErrorVector & getError ()
 Compute and return error / cost value. More...
 
virtual bool read (std::istream &is)
 Read values from input stream. More...
 
virtual void resize (size_t size)
 
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 ~BaseTebMultiEdge ()
 Destruct edge. More...
 

Additional Inherited Members

- Protected Attributes inherited from teb_local_planner::BaseTebMultiEdge< 3, double >
const TebConfigcfg_
 Store TebConfig class for parameters. More...
 

Detailed Description

Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta.

The edge depends on three vertices $ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i $ and minimizes:
$ \min \textrm{penaltyInterval}( [vx,vy,omega]^T ) \cdot weight $.
vx denotes the translational velocity w.r.t. x-axis (computed using finite differneces).
vy denotes the translational velocity w.r.t. y-axis (computed using finite differneces).
omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi].
weight can be set using setInformation().
penaltyInterval denotes the penalty function, see penaltyBoundToInterval().
The dimension of the error / cost vector is 3: the first component represents the translational velocity w.r.t. x-axis, the second one w.r.t. the y-axis and the third one the rotational velocity.

See also
TebOptimalPlanner::AddEdgesVelocity
Remarks
Do not forget to call setTebConfig()

Definition at line 221 of file edge_velocity.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeVelocityHolonomic::EdgeVelocityHolonomic ( )
inline

Construct edge.

Definition at line 228 of file edge_velocity.h.

Member Function Documentation

void teb_local_planner::EdgeVelocityHolonomic::computeError ( )
inline

Actual cost function.

Definition at line 236 of file edge_velocity.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