Class BaseFootprintModel

Inheritance Relationships

Derived Types

Class Documentation

class BaseFootprintModel

Abstract class that defines the interface for footprint/contour models.

The robot/human model class is currently used in optimization only, since taking the navigation stack footprint into account might be inefficient. The footprint is only used for checking feasibility.

Subclassed by hateb_local_planner::CircularFootprint, hateb_local_planner::LineFootprint, hateb_local_planner::PointFootprint, hateb_local_planner::PolygonFootprint, hateb_local_planner::TwoCirclesFootprint

Public Functions

BaseFootprintModel() = default

Default constructor of the abstract obstacle class.

virtual ~BaseFootprintModel() = default

Virtual destructor.

virtual double calculateDistance(const PoseSE2 &current_pose, const Obstacle *obstacle) const = 0

Calculate the distance between the robot/human and an obstacle.

Parameters:

  • current_pose – Current robot/human pose

  • obstacle – Pointer to the obstacle

Returns:

Euclidean distance to the robot/human

virtual double estimateSpatioTemporalDistance(const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const = 0

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

Parameters:

  • current_pose – robot/human pose, from which the distance to the obstacle is estimated

  • obstacle – Pointer to the dynamic obstacle (constant velocity model is assumed)

  • t – time, for which the predicted distance to the obstacle is calculated

Returns:

Euclidean distance to the robot/human

inline virtual void visualizeModel(const PoseSE2 &current_pose, std::vector<visualization_msgs::Marker> &markers, const std_msgs::ColorRGBA &color) const

Visualize the robot/human 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_pose – Current robot/human pose

  • markers – [out] container of marker messages describing the robot/human shape

  • color – Color of the footprint

virtual double getInscribedRadius() = 0

Compute the inscribed radius of the footprint model.

Returns:

inscribed radius

virtual double getCircumscribedRadius() const = 0

Compute the circumscribed radius of the footprint model.

Returns:

circumscribed radius