Public Member Functions | Private Attributes | List of all members
teb_local_planner::TwoCirclesRobotFootprint Class Reference

Class that approximates the robot with two shifted circles. More...

#include <robot_footprint_model.h>

Inheritance diagram for teb_local_planner::TwoCirclesRobotFootprint:
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Public Member Functions

virtual double calculateDistance (const PoseSE2 &current_pose, const Obstacle *obstacle) const
 Calculate the distance between the robot and an obstacle. More...
 
virtual double estimateSpatioTemporalDistance (const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const
 Estimate the distance between the robot and the predicted location of an obstacle at time t. More...
 
virtual double getInscribedRadius ()
 Compute the inscribed radius of the footprint model. More...
 
void setParameters (double front_offset, double front_radius, double rear_offset, double rear_radius)
 Set parameters of the contour/footprint. More...
 
 TwoCirclesRobotFootprint (double front_offset, double front_radius, double rear_offset, double rear_radius)
 Default constructor of the abstract obstacle class. More...
 
virtual void visualizeRobot (const PoseSE2 &current_pose, std::vector< visualization_msgs::Marker > &markers) const
 Visualize the robot using a markers. More...
 
virtual ~TwoCirclesRobotFootprint ()
 Virtual destructor. More...
 
- Public Member Functions inherited from teb_local_planner::BaseRobotFootprintModel
 BaseRobotFootprintModel ()
 Default constructor of the abstract obstacle class. More...
 
virtual ~BaseRobotFootprintModel ()
 Virtual destructor. More...
 

Private Attributes

double front_offset_
 
double front_radius_
 
double rear_offset_
 
double rear_radius_
 

Detailed Description

Class that approximates the robot with two shifted circles.

Definition at line 265 of file robot_footprint_model.h.

Constructor & Destructor Documentation

teb_local_planner::TwoCirclesRobotFootprint::TwoCirclesRobotFootprint ( double  front_offset,
double  front_radius,
double  rear_offset,
double  rear_radius 
)
inline

Default constructor of the abstract obstacle class.

Parameters
front_offsetshift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radiusradius of the front circle
rear_offsetshift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radiusradius of the front circle

Definition at line 276 of file robot_footprint_model.h.

virtual teb_local_planner::TwoCirclesRobotFootprint::~TwoCirclesRobotFootprint ( )
inlinevirtual

Virtual destructor.

Definition at line 282 of file robot_footprint_model.h.

Member Function Documentation

virtual double teb_local_planner::TwoCirclesRobotFootprint::calculateDistance ( const PoseSE2 current_pose,
const Obstacle obstacle 
) const
inlinevirtual

Calculate the distance between the robot and an obstacle.

Parameters
current_poseCurrent robot pose
obstaclePointer to the obstacle
Returns
Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 300 of file robot_footprint_model.h.

virtual double teb_local_planner::TwoCirclesRobotFootprint::estimateSpatioTemporalDistance ( const PoseSE2 current_pose,
const Obstacle obstacle,
double  t 
) const
inlinevirtual

Estimate the distance between the robot and the predicted location of an obstacle at time t.

Parameters
current_poserobot pose, from which the distance to the obstacle is estimated
obstaclePointer to the dynamic obstacle (constant velocity model is assumed)
ttime, for which the predicted distance to the obstacle is calculated
Returns
Euclidean distance to the robot

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 315 of file robot_footprint_model.h.

virtual double teb_local_planner::TwoCirclesRobotFootprint::getInscribedRadius ( )
inlinevirtual

Compute the inscribed radius of the footprint model.

Returns
inscribed radius

Implements teb_local_planner::BaseRobotFootprintModel.

Definition at line 371 of file robot_footprint_model.h.

void teb_local_planner::TwoCirclesRobotFootprint::setParameters ( double  front_offset,
double  front_radius,
double  rear_offset,
double  rear_radius 
)
inline

Set parameters of the contour/footprint.

Parameters
front_offsetshift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters)
front_radiusradius of the front circle
rear_offsetshift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters)
rear_radiusradius of the front circle

Definition at line 291 of file robot_footprint_model.h.

virtual void teb_local_planner::TwoCirclesRobotFootprint::visualizeRobot ( const PoseSE2 current_pose,
std::vector< visualization_msgs::Marker > &  markers 
) const
inlinevirtual

Visualize the robot using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters
current_poseCurrent robot pose
[out]markerscontainer of marker messages describing the robot shape

Reimplemented from teb_local_planner::BaseRobotFootprintModel.

Definition at line 331 of file robot_footprint_model.h.

Member Data Documentation

double teb_local_planner::TwoCirclesRobotFootprint::front_offset_
private

Definition at line 380 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::front_radius_
private

Definition at line 381 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::rear_offset_
private

Definition at line 382 of file robot_footprint_model.h.

double teb_local_planner::TwoCirclesRobotFootprint::rear_radius_
private

Definition at line 383 of file robot_footprint_model.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