what is the obstacle.cpp file in teb_local_planner for?

teb_local_planner

asked 2016-08-23 09:07:28 -0600

rajnunes

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correct me if im wrong . but is the obtacle.cpp file for obstacle msgs for dynamic obstacles

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hey, please indicate whether your questions is answered or not in order to clean up the list of unanswered questions.

croesmann ( 2016-11-16 03:52:52 -0600 )edit

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answered 2016-09-23 07:39:45 -0600

croesmann
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updated 2018-10-10 06:23:17 -0600

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 ;-)

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Asked: 2016-08-23 09:07:28 -0600

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Last updated: Oct 10 '18

what is the obstacle.cpp file in teb_local_planner for? edit