Class EdgePreferRotDir

Defined in File edge_prefer_rotdir.h

Inheritance Relationships

Base Type

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

Class Documentation

class EdgePreferRotDir : public hateb_local_planner::BaseTebBinaryEdge<1, double, VertexPose, VertexPose>

Edge defining the cost function for penalzing a specified turning direction, in particular left resp. right turns.

The edge depends on two consecutive vertices \( \mathbf{s}_i, \mathbf{s}_{i+1} \) and penalizes a given rotation direction based on the weight and dir ( \( dir \in \{-1,1\} \)) dir should be +1 to prefer left rotations and -1 to prefer right rotations weight can be set using setInformation().