Class PointFootprint

Inheritance Relationships

Base Type

Class Documentation

class PointFootprint : public hateb_local_planner::BaseFootprintModel

Public Functions

PointFootprint() = default

Default constructor of the abstract obstacle class.

inline explicit PointFootprint(const double min_obstacle_dist)

Default constructor of the abstract obstacle class.

Parameters:

min_obstacle_dist – Minimum obstacle distance

~PointFootprint() override = default

Virtual destructor.

inline virtual double calculateDistance(const PoseSE2 &current_pose, const Obstacle *obstacle) const override

Calculate the distance between the robot/human and an obstacle.

Parameters:

  • current_pose – Current robot/human pose

  • obstacle – Pointer to the obstacle

Returns:

Euclidean distance to the robot/human

inline virtual double estimateSpatioTemporalDistance(const PoseSE2 &current_pose, const Obstacle *obstacle, double t) const override

Estimate the distance between the robot/human and the predicted location of an obstacle at time t.

Parameters:

  • current_pose – robot/human pose, from which the distance to the obstacle is estimated

  • obstacle – Pointer to the dynamic obstacle (constant velocity model is assumed)

  • t – time, for which the predicted distance to the obstacle is calculated

Returns:

Euclidean distance to the robot/human

inline virtual double getInscribedRadius() override

Compute the inscribed radius of the footprint model.

Returns:

inscribed radius

inline virtual double getCircumscribedRadius() const override

Compute the circumscribed radius of the footprint model.

Returns:

circumscribed radius

inline virtual void visualizeModel(const PoseSE2 &current_pose, std::vector<visualization_msgs::Marker> &markers, const std_msgs::ColorRGBA &color) const override

Visualize the robot/human using a markers.

Fill a marker message with all necessary information (type, pose, scale and color). The header, namespace, id and marker lifetime will be overwritten.

Parameters:

  • current_pose – Current robot/human pose

  • markers – [out] container of marker messages describing the robot/human shape

  • color – Color of the footprint

Private Members

const double min_obstacle_dist_ = 0.0