Class EdgeAgentRobotVisibility

• Defined in File edge_agent_robot_visibility.h

Inheritance Relationships

Base Type

• public hateb_local_planner::BaseTebBinaryEdge< 1, double, VertexPose, VertexPose > (Template Class BaseTebBinaryEdge)

Class Documentation

class EdgeAgentRobotVisibility : public hateb_local_planner::BaseTebBinaryEdge<1, double, VertexPose, VertexPose>

Edge defining a visibility constraint between an agent and the robot in the optimization graph.

This edge penalizes configurations where the agent and robot are not mutually visible according to the defined criteria. The cost is computed based on the visibility between the agent and robot, and is used to enforce line-of-sight or perception constraints.

Inherits from BaseTebBinaryEdge<1, double, VertexPose, VertexPose>.

Public Functions

inline EdgeAgentRobotVisibility()

Construct edge and set measurement to zero (unused).

inline void computeError() override

Compute the error / cost for the edge.

Calculates the visibility between the agent and robot and applies a penalty if the visibility constraint is violated. The error is stored in _error[0].