Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
teb_local_planner::GraphSearchInterface Class Referenceabstract

Base class for graph based path planning / homotopy class sampling. More...

#include <graph_search.h>

Inheritance diagram for teb_local_planner::GraphSearchInterface:
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Public Member Functions

void clearGraph ()
 Clear any existing graph of the homotopy class search. More...
 
virtual void createGraph (const PoseSE2 &start, const PoseSE2 &goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist *start_velocity)=0
 

Public Attributes

HcGraph graph_
 Store the graph that is utilized to find alternative homotopy classes. More...
 

Protected Member Functions

void DepthFirst (HcGraph &g, std::vector< HcGraphVertexType > &visited, const HcGraphVertexType &goal, double start_orientation, double goal_orientation, const geometry_msgs::Twist *start_velocity)
 Depth First Search implementation to find all paths between the start and the specified goal vertex. More...
 
 GraphSearchInterface (const TebConfig &cfg, HomotopyClassPlanner *hcp)
 Protected constructor that should be called by subclasses. More...
 

Protected Attributes

const TebConfigcfg_
 Config class that stores and manages all related parameters. More...
 
HomotopyClassPlanner *const hcp_
 Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. More...
 

Detailed Description

Base class for graph based path planning / homotopy class sampling.

Definition at line 107 of file graph_search.h.

Constructor & Destructor Documentation

teb_local_planner::GraphSearchInterface::GraphSearchInterface ( const TebConfig cfg,
HomotopyClassPlanner hcp 
)
inlineprotected

Protected constructor that should be called by subclasses.

Definition at line 126 of file graph_search.h.

Member Function Documentation

void teb_local_planner::GraphSearchInterface::clearGraph ( )
inline

Clear any existing graph of the homotopy class search.

Definition at line 116 of file graph_search.h.

virtual void teb_local_planner::GraphSearchInterface::createGraph ( const PoseSE2 start,
const PoseSE2 goal,
double  dist_to_obst,
double  obstacle_heading_threshold,
const geometry_msgs::Twist *  start_velocity 
)
pure virtual
void teb_local_planner::GraphSearchInterface::DepthFirst ( HcGraph g,
std::vector< HcGraphVertexType > &  visited,
const HcGraphVertexType goal,
double  start_orientation,
double  goal_orientation,
const geometry_msgs::Twist *  start_velocity 
)
protected

Depth First Search implementation to find all paths between the start and the specified goal vertex.

Complete paths are stored to the internal path container.

See also
http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/
Parameters
gGraph on which the depth first should be performed
visitedA container that stores visited vertices (pass an empty container, it will be filled inside during recursion).
goalDesired goal vertex
start_orientationOrientation of the first trajectory pose, required to initialize the trajectory/TEB
goal_orientationOrientation of the goal trajectory pose, required to initialize the trajectory/TEB
start_velocitystart velocity (optional)

Examine adjacent nodes

Recursion for all adjacent vertices

Definition at line 45 of file graph_search.cpp.

Member Data Documentation

const TebConfig* teb_local_planner::GraphSearchInterface::cfg_
protected

Config class that stores and manages all related parameters.

Definition at line 144 of file graph_search.h.

HcGraph teb_local_planner::GraphSearchInterface::graph_

Store the graph that is utilized to find alternative homotopy classes.

Definition at line 120 of file graph_search.h.

HomotopyClassPlanner* const teb_local_planner::GraphSearchInterface::hcp_
protected

Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding.

Definition at line 145 of file graph_search.h.


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


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