Class Obstacle

Defined in File obstacles.h

Inheritance Relationships

Derived Types

public hateb_local_planner::CircularObstacle (Class CircularObstacle)
public hateb_local_planner::LineObstacle (Class LineObstacle)
public hateb_local_planner::PointObstacle (Class PointObstacle)
public hateb_local_planner::PolygonObstacle (Class PolygonObstacle)

Class Documentation

class Obstacle

Abstract class that defines the interface for modelling obstacles.

Subclassed by hateb_local_planner::CircularObstacle, hateb_local_planner::LineObstacle, hateb_local_planner::PointObstacle, hateb_local_planner::PolygonObstacle

Helper Functions

bool dynamic_ = {}: Store flag if obstacle is dynamic (resp. a moving obstacle)

bool human_ = {}

Eigen::Vector2d centroid_velocity_: Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is true)

virtual void toPolygonMsg(geometry_msgs::Polygon &polygon) = 0

Convert the obstacle to a polygon message.

Convert the obstacle to a corresponding polygon msg. Point obstacles have one vertex, lines have two vertices and polygons might are implictly closed such that the start vertex must not be repeated.

Parameters:: polygon – [out] the polygon message

inline virtual void toTwistWithCovarianceMsg(geometry_msgs::TwistWithCovariance &twistWithCovariance)

Centroid coordinates (abstract, obstacle type depending)

virtual const Eigen::Vector2d &getCentroid() const = 0

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

virtual std::complex<double> getCentroidCplx() const = 0

Get centroid coordinates of the obstacle as complex number.

Returns:: std::complex containing the centroid coordinate

Collision checking and distance calculations (abstract, obstacle type depending)

virtual bool checkCollision(const Eigen::Vector2d &position, double min_dist) const = 0

Check if a given point collides with the obstacle.

Parameters:

position – 2D reference position that should be checked
min_dist – Minimum distance allowed to the obstacle to be collision free

Returns:

true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist

virtual bool checkLineIntersection(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double min_dist = 0) const = 0

Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance min_dist)

Parameters:

line_start – 2D point for the end of the reference line
line_end – 2D point for the end of the reference line
min_dist – Minimum distance allowed to the obstacle to be collision/intersection free

Returns:

true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist

virtual double getMinimumDistance(const Eigen::Vector2d &position) const = 0

Get the minimum euclidean distance to the obstacle (point as reference)

Parameters:: position – 2d reference position
Returns:: The nearest possible distance to the obstacle

virtual double getMinimumDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const = 0

Get the minimum euclidean distance to the obstacle (line as reference)

Parameters:

line_start – 2d position of the begin of the reference line
line_end – 2d position of the end of the reference line

Returns:

The nearest possible distance to the obstacle

virtual double getMinimumDistance(const Point2dContainer &polygon) const = 0

Get the minimum euclidean distance to the obstacle (polygon as reference)

Parameters:: polygon – Vertices (2D points) describing a closed polygon
Returns:: The nearest possible distance to the obstacle

virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d &position) const = 0

Get the closest point on the boundary of the obstacle w.r.t. a specified reference position.

Parameters:: position – reference 2d position
Returns:: closest point on the obstacle boundary

virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &position, double t) const = 0

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference)

Parameters:

position – 2d reference position
t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const = 0

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference)

Parameters:

line_start – 2d position of the begin of the reference line
line_end – 2d position of the end of the reference line
t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

virtual double getMinimumSpatioTemporalDistance(const Point2dContainer &polygon, double t) const = 0

Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference)

Parameters:

polygon – Vertices (2D points) describing a closed polygon
t – time, for which the minimum distance to the obstacle is estimated

Returns:

The nearest possible distance to the obstacle at time t

inline virtual void predictCentroidConstantVelocity(double t, Eigen::Ref<Eigen::Vector2d> position) const

Predict position of the centroid assuming a constant velocity model.

Parameters:

t – [in] time in seconds for the prediction (t>=0)
position – [out] predicted 2d position of the centroid

inline bool isDynamic() const

Check if the obstacle is a moving with a (non-zero) velocity.

Returns:: true if the obstacle is not marked as static, false otherwise

inline bool isHuman() const: returns true if the obstacle is marked as invisible human

inline void setHuman()

inline void setCentroidVelocity(const Eigen::Ref<const Eigen::Vector2d> &vel)

Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid.

Remark

Setting the velocity using this function marks the obstacle as dynamic (