This class stores and wraps a time difference $\Delta T$ into a vertex that can be optimized via g2o. More...

#include <vertex_timediff.h>

Inheritance diagram for teb_local_planner::VertexTimeDiff:

Public Member Functions
double &	dt ()
	Access the timediff value of the vertex. More...

const double &	dt () const
	Access the timediff value of the vertex (read-only) More...

virtual void	oplusImpl (const double *update) override
	Define the update increment $\Delta T_{k+1} = \Delta T_k + update$ . A simple addition implements what we want. More...

virtual bool	read (std::istream &is) override
	Read an estimate of $\Delta T$ from an input stream. More...

virtual void	setToOriginImpl () override
	Set the underlying TimeDiff estimate $\Delta T$ to default. More...

	VertexTimeDiff (bool fixed=false)
	Default constructor. More...

	VertexTimeDiff (double dt, bool fixed=false)
	Construct the TimeDiff vertex with a value. More...

virtual bool	write (std::ostream &os) const override
	Write the estimate $\Delta T$ to an output stream. More...

Detailed Description

This class stores and wraps a time difference $\Delta T$ into a vertex that can be optimized via g2o.

Definition at line 61 of file vertex_timediff.h.

Constructor & Destructor Documentation

◆ VertexTimeDiff() [1/2]

teb_local_planner::VertexTimeDiff::VertexTimeDiff ( bool fixed = false )

inline

Default constructor.

Parameters

fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 69 of file vertex_timediff.h.

◆ VertexTimeDiff() [2/2]

teb_local_planner::VertexTimeDiff::VertexTimeDiff	(	double	dt,
		bool	fixed = `false`
	)

inline

Construct the TimeDiff vertex with a value.

Parameters

dt	time difference value of the vertex
fixed	if `true`, this vertex is considered fixed during optimization [default: `false`]

Definition at line 80 of file vertex_timediff.h.

Member Function Documentation

◆ dt() [1/2]

double& teb_local_planner::VertexTimeDiff::dt ( )

inline

Access the timediff value of the vertex.

See also: estimate

Returns: reference to dt

Definition at line 91 of file vertex_timediff.h.

◆ dt() [2/2]

const double& teb_local_planner::VertexTimeDiff::dt ( ) const

inline

Access the timediff value of the vertex (read-only)

See also: estimate

Returns: const reference to dt

Definition at line 98 of file vertex_timediff.h.

◆ oplusImpl()

virtual void teb_local_planner::VertexTimeDiff::oplusImpl ( const double * update )

inlineoverridevirtual

Define the update increment $\Delta T_{k+1} = \Delta T_k + update$ . A simple addition implements what we want.

Parameters

update increment that should be added to the previous esimate

Definition at line 113 of file vertex_timediff.h.

◆ read()

virtual bool teb_local_planner::VertexTimeDiff::read ( std::istream & is )

inlineoverridevirtual

Read an estimate of $\Delta T$ from an input stream.

Parameters

is	input stream

Returns: always true

Definition at line 123 of file vertex_timediff.h.

◆ setToOriginImpl()

virtual void teb_local_planner::VertexTimeDiff::setToOriginImpl ( )

inlineoverridevirtual

Set the underlying TimeDiff estimate $\Delta T$ to default.

Definition at line 103 of file vertex_timediff.h.

◆ write()

virtual bool teb_local_planner::VertexTimeDiff::write ( std::ostream & os ) const

inlineoverridevirtual

Write the estimate $\Delta T$ to an output stream.

Parameters

os	output stream

Returns: true if the export was successful, otherwise false

Definition at line 134 of file vertex_timediff.h.

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

vertex_timediff.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VertexTimeDiff() [1/2]

◆ VertexTimeDiff() [2/2]

Member Function Documentation

◆ dt() [1/2]

◆ dt() [2/2]

◆ oplusImpl()

◆ read()

◆ setToOriginImpl()

◆ write()