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:

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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 >
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...

Additional Inherited Members
Protected Attributes inherited from teb_local_planner::BaseTebMultiEdge< 3, double >
const TebConfig *	cfg_
	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.