Class EdgeAccelerationHolonomic

Defined in File edge_acceleration.h

Inheritance Relationships

Base Type

public hateb_local_planner::BaseTebMultiEdge< 3, double > (Template Class BaseTebMultiEdge)

Class Documentation

class EdgeAccelerationHolonomic : public hateb_local_planner::BaseTebMultiEdge<3, double>

Edge defining the cost function for limiting the translational and rotational acceleration.

The edge depends on five vertices \( \mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1} \) and minimizes: \( \min \textrm{penaltyInterval}( [ax, ay, omegadot } ]^T ) \cdot weight \). ax is calculated using the difference quotient (twice) and the x position parts of all three poses ay is calculated using the difference quotient (twice) and the y position parts of all three poses omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. weight can be set using setInformation() penaltyInterval denotes the penalty function, see penaltyBoundToInterval() The dimension of the error / cost vector is 3: the first component represents the translational acceleration (x-dir), the second one the strafing acceleration and the third one the rotational acceleration.