Template Class BaseTebBinaryEdge

Inheritance Relationships

Base Type

  • public g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >

Class Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>
class BaseTebBinaryEdge : public g2o::BaseBinaryEdge<D, E, VertexXi, VertexXj>

Base edge connecting two vertices in the TEB optimization problem.

This edge defines a base edge type for the TEB optimization problem. It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class.

See also

BaseTebMultiEdge, BaseTebUnaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge

Public Functions

inline ErrorVector &getError()

Compute and return error / cost value.

This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost.

Returns:

2D Cost / error vector [nh cost, backward drive dir cost]^T

inline virtual bool read(std::istream &is)

Read values from input stream.

inline virtual bool write(std::ostream &os) const

Write values to an output stream.

inline void setHATebConfig(const HATebConfig &cfg)

Assign the HATebConfig class for parameters.

Parameters:

cfg – HATebConfig class

Protected Attributes

const HATebConfig *cfg_

Store HATebConfig class for parameters.