Class PolygonObstacle

Defined in File obstacles.h

Inheritance Relationships

Base Type

public hateb_local_planner::Obstacle (Class Obstacle)

Class Documentation

class PolygonObstacle : public hateb_local_planner::Obstacle 

Implements a polygon obstacle with an arbitrary number of vertices.

If the polygon has only 2 vertices, than it is considered as a line, otherwise the polygon will always be closed (a connection between the first and the last vertex is included automatically).

Define the polygon

inline const Point2dContainer &vertices() const: Access vertices container (read-only)

inline Point2dContainer &vertices(): Access vertices container.

inline void pushBackVertex(const Eigen::Ref<const Eigen::Vector2d> &vertex)

Add a vertex to the polygon (edge-point)

Remark

You do not need to close the polygon (do not repeat the first vertex)

Warning

Do not forget to call finalizePolygon() after adding all vertices

Parameters:: vertex – 2D point defining a new polygon edge

inline void pushBackVertex(double x, double y)

Add a vertex to the polygon (edge-point)

Remark

You do not need to close the polygon (do not repeat the first vertex)

Warning

Do not forget to call finalizePolygon() after adding all vertices

Parameters:

x – x-coordinate of the new vertex
y – y-coordinate of the new vertex

inline void finalizePolygon(): Call finalizePolygon after the polygon is created with the help of pushBackVertex() methods.

inline void clearVertices(): Clear all vertices (Afterwards the polygon is not valid anymore)

inline int noVertices() const: Get the number of vertices defining the polygon (the first vertex is counted once)

Public Functions

inline PolygonObstacle(): Default constructor of the polygon obstacle class.

inline explicit PolygonObstacle(Point2dContainer vertices): Construct polygon obstacle with a list of vertices.

inline virtual bool checkCollision(const Eigen::Vector2d &point, double min_dist) const override

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 override

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

Remark

we ignore min_dist here

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

inline virtual double getMinimumDistance(const Eigen::Vector2d &position) const override

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

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

inline virtual double getMinimumDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end) const override

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

inline virtual double getMinimumDistance(const Point2dContainer &polygon) const override

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 override

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

inline virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &position, double t) const override

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

inline virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d &line_start, const Eigen::Vector2d &line_end, double t) const override

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

inline virtual double getMinimumSpatioTemporalDistance(const Point2dContainer &polygon, double t) const override

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 predictVertices(double t, Point2dContainer &pred_vertices) const

inline virtual const Eigen::Vector2d &getCentroid() const override

Get centroid coordinates of the obstacle.

Returns:: Eigen::Vector2d containing the centroid

inline virtual std::complex<double> getCentroidCplx() const override

Get centroid coordinates of the obstacle as complex number.

Returns:: std::complex containing the centroid coordinate

virtual void toPolygonMsg(geometry_msgs::Polygon &polygon) override

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

Protected Functions

void fixPolygonClosure(): Check if the current polygon contains the first vertex twice (as start and end) and in that case erase the last redundant one.

void calcCentroid(): Compute the centroid of the polygon (called inside finalizePolygon())

Protected Attributes

Point2dContainer vertices_

Store vertices defining the polygon (.