Class EdgeVelocity

Defined in File edge_velocity.h

Inheritance Relationships

Base Type

public hateb_local_planner::BaseTebMultiEdge< 2, double > (Template Class BaseTebMultiEdge)

Class Documentation

class EdgeVelocity : public hateb_local_planner::BaseTebMultiEdge<2, double>

Edge defining the cost function for limiting the translational and rotational velocity.

The edge depends on three vertices \( \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \) and minimizes: \( \min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight \). v is calculated using the difference quotient and the position parts of both poses. omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi]. weight can be set using setInformation(). penaltyInterval denotes the penalty function, see penaltyBoundToInterval()

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The dimension of the error / cost vector is 2: the first component represents the translational velocity and the second one the rotational velocity.