Class EdgeVelocityHolonomic

Defined in File edge_velocity.h

Inheritance Relationships

Base Type

public hateb_local_planner::BaseTebMultiEdge< 3, double > (Template Class BaseTebMultiEdge)

Class Documentation

class EdgeVelocityHolonomic : public hateb_local_planner::BaseTebMultiEdge<3, double>

Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta.

The edge depends on three vertices \( \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \) and minimizes: \( \min \textrm{penaltyInterval}( [vx,vy,omega]^T ) \cdot weight \). vx denotes the translational velocity w.r.t. x-axis (computed using finite differneces). vy denotes the translational velocity w.r.t. y-axis (computed using finite differneces). 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 3: the first component represents the translational velocity w.r.t. x-axis, the second one w.r.t. the y-axis and the third one the rotational velocity.