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the obstacle.cpp file along with its header defines the obstacle interface and particular implementations (point, line, polygon obstacles) for consideration in the teb_local_planner optimization problem. Although the obstacle class contains member fields for velocities, the teb_local_planner does not support actual dynamic obstacles yet. I am going to edit this answer as soon as it is supported.

the obstacle.cpp file along with its header defines the obstacle interface and particular implementations (point, line, polygon obstacles) for consideration in the teb_local_planner optimization problem. Although the obstacle class contains member fields for velocities, the teb_local_planner does not support actual dynamic obstacles yet. I am going to edit this answer as soon as it is supported.

EDIT: dynamic obstacles are now supported. Please check the tutorials ;-)