Class EdgeAgentRobotRelVelocity

Defined in File edge_agent_robot_rel_velocity.h

Inheritance Relationships

Base Type

public hateb_local_planner::BaseTebMultiEdge< 1, double > (Template Class BaseTebMultiEdge)

Class Documentation

class EdgeAgentRobotRelVelocity : public hateb_local_planner::BaseTebMultiEdge<1, double>

Edge defining a relative velocity constraint between robot and agent trajectories in the optimization graph.

This edge penalizes configurations where the relative velocity between the robot and an agent exceeds a specified threshold. The cost is computed based on the difference in velocities projected along the direction between the robot and agent, and is penalized if it exceeds cfg_->hateb.rel_vel_cost_threshold.

Inherits from BaseTebMultiEdge<1, double>.

Public Functions

inline EdgeAgentRobotRelVelocity(): Construct edge and resize to 6 vertices (robot/agent poses and time diffs).

inline void computeError() override

Compute the error / cost for the edge.

Calculates the relative velocity between the robot and agent over a time interval, and applies a penalty if the cost exceeds the allowed threshold. The error is stored in _error[0].