teb_local_planner
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many changes to edge_{velocity,acceleration,jerk}
fix #89 for different types of holonomic robot
changes:
- use normalized velocity/acceleration/jerk (remove
max_vel_x_backwards
support) - add option
omni_type
for different holonomic types - move computeError() from
include/teb_local_planner/g2o_types/
tosrc/g2o_types
- add
exact_arc_length
support to holonomic robots - add jerk edges for jerk control, add
{weight_,}_jerk_lim_{x,y,theta}
options - tweak default
{weight_,}_{acc,jerk}_lim_{x,y,theta}
value
This PR was (partly) used in Jingdong Robotics Challenge 2018
I'm adding too much stuff on these hpp files, and most part of them are the same
when get acceleration, we have to calculate velocity twice (and another three times if we want jerk optimization)
there is something not right
so far this code is work, but not good...
another question: should we use normalized velocity/acceleration?
yet another question: why use non holonomic constraint
but not abs(vy)
to limit vy
? I found it is actually calculating hypot(vx,vy)
in EdgeVelocity
. When weight_kinematics_nh
is low, this is totally wrong.
This hasn't been discussed for quite some time, but I'm curious as to why the jerk isn't being applied to Tebs.