Class EdgeAccelerationHolonomicGoal

Defined in File edge_acceleration.h

Inheritance Relationships

Base Type

public hateb_local_planner::BaseTebMultiEdge< 3, const geometry_msgs::Twist * > (Template Class BaseTebMultiEdge)

Class Documentation

class EdgeAccelerationHolonomicGoal : public hateb_local_planner::BaseTebMultiEdge<3, const geometry_msgs::Twist*>

Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory.

The edge depends on three vertices \( \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \), an initial velocity defined by setGoalVelocity() 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 the poses ay is calculated using the difference quotient (twice) and the y-position parts of the 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, the second one is the strafing velocity and the third one the rotational acceleration.