CSpaceNode Class Reference

#include <CSpaceNode.h>

Public Member Functions
	CSpaceNode ()
	~CSpaceNode ()

Private Member Functions
void	Inflate (nav_msgs::OccupancyGrid &occ, nav_msgs::OccupancyGrid &free, nav_msgs::OccupancyGrid &occupied, const double &freeInflationRadius, const double &occupiedInflationRadius, const int8_t &occupancyThreshold=90, const int8_t &freeThreshold=50, const int8_t &occupiedValue=100, const int8_t &freeVal=1)
void	ApplyDynamicData (nav_msgs::OccupancyGrid &occ, nav_msgs::OccupancyGrid &dynamicOcc, std::vector< geometry_msgs::PoseArray > &lidarSources, const double &maxLidarRange=10.0, const int8_t &occupiedValue=100)
void	ApplyDynamicData (nav_msgs::OccupancyGrid &occ, nav_msgs::OccupancyGrid &dynamicOcc, std::vector< geometry_msgs::PoseArray > &lidarSources, std::vector< geometry_msgs::PoseArray > &otherSources, const double &maxLidarRange=10.0, const int8_t &occupiedValue=100)
void	GenerateCSpace (nav_msgs::OccupancyGrid &free, nav_msgs::OccupancyGrid &occupied, nav_msgs::OccupancyGrid &cspace, tf::Vector3 &occ_pose, const int8_t &unknownVal=-1)
void	InflatePoseForPlanner (nav_msgs::OccupancyGrid &cspace, const double &freeInflationRadius, const int &x, const int &y, const int8_t &occupancyThreshold=90, const int8_t &freeVal=1)
void	ClearLocalTrajectories (std::vector< geometry_msgs::PoseArray > &local, std_msgs::Int8MultiArray &comm)
void	RobotsInCommCallback (std_msgs::Int8MultiArray::ConstPtr msg)
void	OccCallback (nav_msgs::OccupancyGrid::ConstPtr msg)
void	WorldPoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
void	Update ()

Private Attributes
int	aQueueSize
int	aId
int	aLidarSources
int	aRobots
bool	aHasOcc
bool	aHasPose
bool	aReceivedComm
double	aRate
double	aLidarRange
double	aFreeInflateRadius
double	aOccuInflateRadius
tf::Vector3	aOccPose
std::string	aNamespace
std::vector< ros::Timer >	aTimers
std::vector< ros::Subscriber >	aSubscribers
ros::Publisher	aCspacePublisher
nav_msgs::OccupancyGrid	aOccMsg
nav_msgs::OccupancyGrid	aFreeCellsMsg
nav_msgs::OccupancyGrid	aOccupiedCellsMsg
nav_msgs::OccupancyGrid	aOccWithDynamicDataMsg
nav_msgs::OccupancyGrid	aCspaceMsg
multirobotsimulations::CustomPose	aWorldPoseMsg
std_msgs::Int8MultiArray	aRobotsInCommMsg
std::vector< geometry_msgs::PoseArray >	aTrajectoriesArray
std::vector< geometry_msgs::PoseArray >	aLidarsArray

Constructor & Destructor Documentation

CSpaceNode()

CSpaceNode::CSpaceNode

(

)

~CSpaceNode()

CSpaceNode::~CSpaceNode

(

)

Member Function Documentation

ApplyDynamicData() [1/2]

void CSpaceNode::ApplyDynamicData ( nav_msgs::OccupancyGrid &  occ, nav_msgs::OccupancyGrid &  dynamicOcc, std::vector< geometry_msgs::PoseArray > &  lidarSources, const double &  maxLidarRange = 10.0, const int8_t &  occupiedValue = 100  )

private

ApplyDynamicData() [2/2]

void CSpaceNode::ApplyDynamicData ( nav_msgs::OccupancyGrid &  occ, nav_msgs::OccupancyGrid &  dynamicOcc, std::vector< geometry_msgs::PoseArray > &  lidarSources, std::vector< geometry_msgs::PoseArray > &  otherSources, const double &  maxLidarRange = 10.0, const int8_t &  occupiedValue = 100  )

private

ClearLocalTrajectories()

void CSpaceNode::ClearLocalTrajectories ( std::vector< geometry_msgs::PoseArray > &  local, std_msgs::Int8MultiArray &  comm  )

private

GenerateCSpace()

void CSpaceNode::GenerateCSpace ( nav_msgs::OccupancyGrid &  free, nav_msgs::OccupancyGrid &  occupied, nav_msgs::OccupancyGrid &  cspace, tf::Vector3 &  occ_pose, const int8_t &  unknownVal = -1  )

private

Inflate()

void CSpaceNode::Inflate ( nav_msgs::OccupancyGrid &  occ, nav_msgs::OccupancyGrid &  free, nav_msgs::OccupancyGrid &  occupied, const double &  freeInflationRadius, const double &  occupiedInflationRadius, const int8_t &  occupancyThreshold = 90, const int8_t &  freeThreshold = 50, const int8_t &  occupiedValue = 100, const int8_t &  freeVal = 1  )

private

InflatePoseForPlanner()

void CSpaceNode::InflatePoseForPlanner ( nav_msgs::OccupancyGrid &  cspace, const double &  freeInflationRadius, const int &  x, const int &  y, const int8_t &  occupancyThreshold = 90, const int8_t &  freeVal = 1  )

private

OccCallback()

void CSpaceNode::OccCallback ( nav_msgs::OccupancyGrid::ConstPtr  msg )

private

RobotsInCommCallback()

void CSpaceNode::RobotsInCommCallback ( std_msgs::Int8MultiArray::ConstPtr  msg )

private

Update()

void CSpaceNode::Update ( )

private

WorldPoseCallback()

void CSpaceNode::WorldPoseCallback ( multirobotsimulations::CustomPose::ConstPtr  msg )

private

Member Data Documentation

aCspaceMsg

nav_msgs::OccupancyGrid CSpaceNode::aCspaceMsg

private

aCspacePublisher

ros::Publisher CSpaceNode::aCspacePublisher

private

aFreeCellsMsg

nav_msgs::OccupancyGrid CSpaceNode::aFreeCellsMsg

private

aFreeInflateRadius

double CSpaceNode::aFreeInflateRadius

private

aHasOcc

bool CSpaceNode::aHasOcc

private

aHasPose

bool CSpaceNode::aHasPose

private

aId

int CSpaceNode::aId

private

aLidarRange

double CSpaceNode::aLidarRange

private

aLidarsArray

std::vector<geometry_msgs::PoseArray> CSpaceNode::aLidarsArray

private

aLidarSources

int CSpaceNode::aLidarSources

private

aNamespace

std::string CSpaceNode::aNamespace

private

aOccMsg

nav_msgs::OccupancyGrid CSpaceNode::aOccMsg

private

aOccPose

tf::Vector3 CSpaceNode::aOccPose

private

aOccuInflateRadius

double CSpaceNode::aOccuInflateRadius

private

aOccupiedCellsMsg

nav_msgs::OccupancyGrid CSpaceNode::aOccupiedCellsMsg

private

aOccWithDynamicDataMsg

nav_msgs::OccupancyGrid CSpaceNode::aOccWithDynamicDataMsg

private

aQueueSize

int CSpaceNode::aQueueSize

private

aRate

double CSpaceNode::aRate

private

aReceivedComm

bool CSpaceNode::aReceivedComm

private

aRobots

int CSpaceNode::aRobots

private

aRobotsInCommMsg

std_msgs::Int8MultiArray CSpaceNode::aRobotsInCommMsg

private

aSubscribers

std::vector<ros::Subscriber> CSpaceNode::aSubscribers

private

aTimers

std::vector<ros::Timer> CSpaceNode::aTimers

private

aTrajectoriesArray

std::vector<geometry_msgs::PoseArray> CSpaceNode::aTrajectoriesArray

private

aWorldPoseMsg

multirobotsimulations::CustomPose CSpaceNode::aWorldPoseMsg

private

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The documentation for this class was generated from the following file:

• src/multirobotexploration/include/nodes/CSpaceNode.h