Class EdgeStaticAgentVisibility
Defined in File edge_static_agent_visibility.h
Inheritance Relationships
Base Type
public hateb_local_planner::BaseTebUnaryEdge< 1, double, VertexPose >(Template Class BaseTebUnaryEdge)
Class Documentation
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class EdgeStaticAgentVisibility : public hateb_local_planner::BaseTebUnaryEdge<1, double, VertexPose>
Edge defining a visibility constraint between a static agent and the robot in the optimization graph.
This edge penalizes close configurations when the robot is not in the visible region of human. The cost is computed based on the visibility between the static agent and robot, and is used to enforce perception constraints.
Inherits from BaseTebUnaryEdge<1, double, VertexPose>.
Public Functions
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inline EdgeStaticAgentVisibility()
Construct edge and set measurement to zero (unused).
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inline void computeError() override
Compute the error / cost for the edge.
Calculates the visibility between the static agent and robot and applies a penalty if the visibility constraint is violated. The error is stored in _error[0].
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inline void setParameters(const HATebConfig &cfg, const PoseSE2 &static_agent)
Set parameters for the edge, including configuration and static agent pose.
- Parameters:
cfg – HATebConfig configuration
static_agent – Pose of the static agent
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inline EdgeStaticAgentVisibility()