teb_local_planner::HSignature Class Reference

The H-signature defines an equivalence relation based on homology in terms of complex calculus. More...

#include <h_signature.h>

Inheritance diagram for teb_local_planner::HSignature:

Public Member Functions
template<typename BidirIter , typename Fun >
void	calculateHSignature (BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer *obstacles)
	Calculate the H-Signature of a path. More...
	HSignature (const TebConfig &cfg)
	Constructor accepting a TebConfig. More...
virtual bool	isEqual (const EquivalenceClass &other) const
	Check if two candidate classes are equivalent. More...
virtual bool	isReasonable () const
	Check if the trajectory is non-looping around an obstacle. More...
virtual bool	isValid () const
	Check if the equivalence value is detected correctly. More...
const std::complex< long double > &	value () const
	Get the current value of the h-signature (read-only) More...
Public Member Functions inherited from teb_local_planner::EquivalenceClass
	EquivalenceClass ()
	Default constructor. More...
virtual	~EquivalenceClass ()
	virtual destructor More...

Private Attributes
const TebConfig *	cfg_
std::complex< long double >	hsignature_

Detailed Description

The H-signature defines an equivalence relation based on homology in terms of complex calculus.

The H-Signature depends on the obstacle configuration and can be utilized to check whether two trajectores belong to the same homology class. Refer to:

• S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010

Definition at line 67 of file h_signature.h.

Constructor & Destructor Documentation

HSignature()

teb_local_planner::HSignature::HSignature ( const TebConfig &  cfg )

inline

Constructor accepting a TebConfig.

Parameters

cfg	TebConfig storing some user configuration options

Definition at line 76 of file h_signature.h.

Member Function Documentation

calculateHSignature()

template<typename BidirIter , typename Fun >

void teb_local_planner::HSignature::calculateHSignature ( BidirIter  path_start, BidirIter  path_end, Fun  fun_cplx_point, const ObstContainer *  obstacles  )

inline

Calculate the H-Signature of a path.

The implemented function accepts generic path descriptions that are restricted to the following structure:
The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...).
Provide a unary function with the following signature std::complex< long double > (const T& point_type) that returns a complex value for the position (Re(*)=x, Im(*)=y).

T could also be a pointer type, if the passed function also accepts a const T* point_Type.

Parameters

path_start	Iterator to the first element in the path
path_end	Iterator to the last element in the path
obstacles	obstacle container
fun_cplx_point	function accepting the dereference iterator type and that returns the position as complex number.

Template Parameters

BidirIter	Bidirectional iterator type
Fun	function of the form std::complex< long double > (const T& point_type)

Definition at line 97 of file h_signature.h.

isEqual()

virtual bool teb_local_planner::HSignature::isEqual ( const EquivalenceClass &  other ) const

inlinevirtual

Check if two candidate classes are equivalent.

Parameters

other

The other equivalence class to test with

Implements teb_local_planner::EquivalenceClass.

Definition at line 195 of file h_signature.h.

isReasonable()

virtual bool teb_local_planner::HSignature::isReasonable ( ) const

inlinevirtual

Check if the trajectory is non-looping around an obstacle.

Returns

Returns always true, as this cannot be detected by this kind of H-Signature.

Implements teb_local_planner::EquivalenceClass.

Definition at line 224 of file h_signature.h.

isValid()

virtual bool teb_local_planner::HSignature::isValid ( ) const

inlinevirtual

Check if the equivalence value is detected correctly.

Returns

Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur.

Implements teb_local_planner::EquivalenceClass.

Definition at line 215 of file h_signature.h.

value()

const std::complex<long double>& teb_local_planner::HSignature::value ( ) const

inline

Get the current value of the h-signature (read-only)

Returns

h-signature in complex-number format

Definition at line 233 of file h_signature.h.

Member Data Documentation

cfg_

const TebConfig* teb_local_planner::HSignature::cfg_

private

Definition at line 238 of file h_signature.h.

hsignature_

std::complex<long double> teb_local_planner::HSignature::hsignature_

private

Definition at line 239 of file h_signature.h.

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

• h_signature.h