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

Edge defining the cost function for pushing a configuration towards a via point. More...

#include <edge_via_point.h>

Inheritance diagram for teb_local_planner::EdgeViaPoint:
Inheritance graph
[legend]

Public Member Functions

void computeError ()
 Actual cost function. More...
 
 EdgeViaPoint ()
 Construct edge. More...
 
void setParameters (const TebConfig &cfg, const Eigen::Vector2d *via_point)
 Set all parameters at once. More...
 
void setViaPoint (const Eigen::Vector2d *via_point)
 Set pointer to associated via point for the underlying cost function. More...
 
- Public Member Functions inherited from teb_local_planner::BaseTebUnaryEdge< 1, const Eigen::Vector2d *, 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...
 

Additional Inherited Members

- Protected Attributes inherited from teb_local_planner::BaseTebUnaryEdge< 1, const Eigen::Vector2d *, VertexPose >
const TebConfigcfg_
 Store TebConfig class for parameters. More...
 

Detailed Description

Edge defining the cost function for pushing a configuration towards a via point.

The edge depends on a single vertex $ \mathbf{s}_i $ and minimizes:
$ \min dist2point \cdot weight $.
dist2point denotes the distance to the via point.
weight can be set using setInformation().

See also
TebOptimalPlanner::AddEdgesViaPoints
Remarks
Do not forget to call setTebConfig() and setViaPoint()

Definition at line 66 of file edge_via_point.h.

Constructor & Destructor Documentation

teb_local_planner::EdgeViaPoint::EdgeViaPoint ( )
inline

Construct edge.

Definition at line 73 of file edge_via_point.h.

Member Function Documentation

void teb_local_planner::EdgeViaPoint::computeError ( )
inline

Actual cost function.

Definition at line 81 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setParameters ( const TebConfig cfg,
const Eigen::Vector2d *  via_point 
)
inline

Set all parameters at once.

Parameters
cfgTebConfig class
via_point2D position vector containing the position of the via point

Definition at line 105 of file edge_via_point.h.

void teb_local_planner::EdgeViaPoint::setViaPoint ( const Eigen::Vector2d *  via_point)
inline

Set pointer to associated via point for the underlying cost function.

Parameters
via_point2D position vector containing the position of the via point

Definition at line 95 of file edge_via_point.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