Class EdgeViaPoint

Inheritance Relationships

Base Type

Class Documentation

class EdgeViaPoint : public hateb_local_planner::BaseTebUnaryEdge<1, const Eigen::Vector2d*, VertexPose>

Edge defining the cost function for pushing a configuration towards a via point.

The edge depends on a single vertex \( \mathbf{s}_i \) and minimizes: \( \min dist2point \cdot weight \). dist2point denotes the distance to the via point. weight can be set using setInformation().

See also

TebOptimalPlanner::AddEdgesViaPoints

Remark

Do not forget to call setHATebConfig() and setViaPoint()

Public Functions

inline EdgeViaPoint()

Construct edge.

inline void computeError() override

Actual cost function.

inline void setViaPoint(const Eigen::Vector2d *via_point)

Set pointer to associated via point for the underlying cost function.

Parameters:

via_point – 2D position vector containing the position of the via point

inline void setParameters(const HATebConfig &cfg, const Eigen::Vector2d *via_point)

Set all parameters at once.

Parameters:

  • cfg – HATebConfig class

  • via_point – 2D position vector containing the position of the via point