Class EdgeTimeOptimal

Defined in File edge_time_optimal.h

Inheritance Relationships

Base Type

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

Class Documentation

class EdgeTimeOptimal : public hateb_local_planner::BaseTebUnaryEdge<1, double, VertexTimeDiff>

Edge defining the cost function for minimizing transition time of the trajectory.

The edge depends on a single vertex \( \Delta T_i \) and minimizes: \( \min \Delta T_i^2 \cdot scale \cdot weight \). scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it. weight can be set using setInformation() (something around 1.0 seems to be fine).