Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot. More...
#include <edge_kinematics.h>
Public Member Functions | |
| void | computeError () |
| Actual cost function. More... | |
| EdgeKinematicsCarlike () | |
| Construct edge. More... | |
 Public Member Functions inherited from teb_local_planner::BaseTebBinaryEdge< 2, double, VertexPose, VertexPose > | |
| 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... | |
Additional Inherited Members | |
| Protected Attributes inherited from teb_local_planner::BaseTebBinaryEdge< 2, double, VertexPose, VertexPose > | |
| const TebConfig * | cfg_ |
| Store TebConfig class for parameters. More... | |
Detailed Description
Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot.
The edge depends on two vertices 
and minimizes a geometric interpretation of the non-holonomic constraint:
- C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012.
The definition is identically to the one of the differential drive robot. Additionally, this edge incorporates a minimum turning radius that is required by carlike robots. The turning radius is defined by 
.
The weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000).
The second equation enforces a minimum turning radius. The weight can be set using setInformation(): Matrix element 2,2.
The dimension of the error / cost vector is 3: the first component represents the nonholonomic constraint cost, the second one backward-drive cost and the third one the minimum turning radius
- See also
- TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsDiffDrive
- Remarks
- Bounding the turning radius from below is not affected by the penalty_epsilon parameter, the user might add an extra margin to the min_turning_radius param.
- Do not forget to call setTebConfig()
Definition at line 182 of file edge_kinematics.h.
Constructor & Destructor Documentation
◆ EdgeKinematicsCarlike()
|
inline |
Construct edge.
Definition at line 189 of file edge_kinematics.h.
Member Function Documentation
◆ computeError()
|
inline |
Actual cost function.
Definition at line 197 of file edge_kinematics.h.
The documentation for this class was generated from the following file: