Class EdgeInflatedObstacle

Inheritance Relationships

Base Type

Class Documentation

class EdgeInflatedObstacle : public hateb_local_planner::BaseTebUnaryEdge<2, const Obstacle*, VertexPose>

Edge defining the cost function for keeping a minimum distance from inflated obstacles.

The edge depends on a single vertex \( \mathbf{s}_i \) and minimizes: \( \min \textrm{penaltyBelow}( dist2point, min_obstacle_dist ) \cdot weight_inflation \)

.

Additional, a second penalty is provided with

\( \min \textrm{penaltyBelow}( dist2point, inflation_dist ) \cdot weight_inflation \). It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. dist2point denotes the minimum distance to the point obstacle. penaltyBelow denotes the penalty function, see penaltyBoundFromBelow()

See also

TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle

Remark

Do not forget to call setHATebConfig() and setObstacle()

Public Functions

inline EdgeInflatedObstacle()

Construct edge.

inline void computeError() override

Actual cost function.

inline void setParameters(const HATebConfig &cfg, const Obstacle *obstacle, const int type)

Set all parameters at once.

Parameters:

  • cfg – HATebConfig class

  • obstacle – 2D position vector containing the position of the obstacle

  • type – Agent type (0 - Robot, 1 - Human)

Protected Attributes

int type_