Class CircularObstacle

• Defined in File obstacles.h

Inheritance Relationships

Base Type

• public hateb_local_planner::Obstacle (Class Obstacle)

Class Documentation

class CircularObstacle : public hateb_local_planner::Obstacle

Implements a 2D circular obstacle (point obstacle plus radius)

Public Functions

inline CircularObstacle()

Default constructor of the circular obstacle class.

inline CircularObstacle(const Eigen::Ref<const Eigen::Vector2d> &position, double radius)

Construct CircularObstacle using a 2d center position vector and radius.

Parameters:

• position – 2d position that defines the current obstacle position

• radius – radius of the obstacle

inline CircularObstacle(double x, double y, double radius)

Construct CircularObstacle using x- and y-center-coordinates and radius.

Parameters:

• x – x-coordinate

• y – y-coordinate

• radius – radius of the obstacle

inline virtual bool checkCollision(const Eigen::Vector2d &point, double min_dist) const override

Check if a given point collides with the obstacle.

Parameters:

• position – 2D reference position that should be checked

• min_dist – Minimum distance allowed to the obstacle to be collision free

Returns:

true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

inline virtual bool checkLineIntersection(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist = 0) const override

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters:

• line_start – 2D point for the end of the reference line

• line_end – 2D point for the end of the reference line

• min_dist – Minimum distance allowed to the obstacle to be collision/intersection free

Returns:

true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

inline virtual double getMinimumDistance(const Eigen::Vector2d &position) const override

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters:

position – 2d reference position

Returns:

The nearest possible distance to the obstacle

inline virtual double getMinimumDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const override

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters:

• line_start – 2d position of the begin of the reference line

• line_end – 2d position of the end of the reference line

Returns:

The nearest possible distance to the obstacle

inline virtual double getMinimumDistance(const Point2dContainer &polygon) const override

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters:

polygon – Vertices (2D points) describing a closed polygon

Returns:

The nearest possible distance to the obstacle

inline virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d &position) const override

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters:

position – reference 2d position

Returns:

closest point on the obstacle boundary

inline virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &position, double t) const override

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference)

Parameters:

• position – 2d reference position

• t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

inline virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const override

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference)

Parameters:

• line_start – 2d position of the begin of the reference line

• line_end – 2d position of the end of the reference line

• t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

inline virtual double getMinimumSpatioTemporalDistance(const Point2dContainer &polygon, double t) const override

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference)

Parameters:

• polygon – Vertices (2D points) describing a closed polygon

• t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

inline virtual void predictCentroidConstantVelocity(double t, Eigen::Ref<Eigen::Vector2d> position) const override

Predict position of the centroid assuming a constant velocity model.

Parameters:

• t – [in] time in seconds for the prediction (t>=0)

• position – [out] predicted 2d position of the centroid

inline virtual const Eigen::Vector2d &getCentroid() const override

Get centroid coordinates of the obstacle.

Returns:

Eigen::Vector2d containing the centroid

inline virtual std::complex<double> getCentroidCplx() const override

Get centroid coordinates of the obstacle as complex number.

Returns:

std::complex containing the centroid coordinate

inline const Eigen::Vector2d &position() const

Return the current position of the obstacle (read-only)

inline Eigen::Vector2d &position()

Return the current position of the obstacle.

inline double &x()

Return the current x-coordinate of the obstacle.

inline const double &x() const

Return the current y-coordinate of the obstacle (read-only)

inline double &y()

Return the current x-coordinate of the obstacle.

inline const double &y() const

Return the current y-coordinate of the obstacle (read-only)

inline double &radius()

Return the current radius of the obstacle.

inline const double &radius() const

Return the current radius of the obstacle.

inline virtual void toPolygonMsg(geometry_msgs::Polygon &polygon) override

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters:

polygon – [out] the polygon message

inline void setCentroid(double x, double y)

Protected Attributes

Eigen::Vector2d pos_

Store the center position of the CircularObstacle.

double radius_ = 0.0

Radius of the obstacle.