FrontierDiscoveryNode Class Reference

#include <FrontierDiscoveryNode.h>

Collaboration diagram for FrontierDiscoveryNode:

Public Member Functions
	FrontierDiscoveryNode ()
	~FrontierDiscoveryNode ()

Private Member Functions
void	Update ()
void	CSpaceCallback (nav_msgs::OccupancyGrid::ConstPtr msg)
void	EstimatePoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
void	ComputeCallback (std_msgs::String::ConstPtr msg)
void	CreateMarker (visualization_msgs::Marker &input, const char *ns, const int &id, const int &seq)
void	SetPoseArr (geometry_msgs::PoseArray &arr, const int &seq)
void	ResetFrontierMsg (multirobotsimulations::Frontiers &msg)
double	ComputeCentroidValue (nav_msgs::OccupancyGrid &occ, Vec2i &centroid, const double &lidarRange)

Private Attributes
int	aQueueSize
int	aId
int	aSeq
int	aClusterDetectionMin
bool	aReceivedCSpace
bool	aHasPose
double	aRate
double	aYaw
double	aMaxLidarRange
Vec2i	aPos
FrontierState	aState
std::string	aNamespace
std::vector< ros::Timer >	aTimers
std::vector< ros::Subscriber >	aSubscribers
ros::Publisher	aClusterMarkerPub
ros::Publisher	aFrontiersMapPub
ros::Publisher	aFrontiersClustersPub
multirobotsimulations::Frontiers	aFrontierMsg
geometry_msgs::PoseArray	aPoseArrMsg
geometry_msgs::Pose	aWorldPos
nav_msgs::OccupancyGrid	aOcc
nav_msgs::OccupancyGrid	aFrontiersMap
visualization_msgs::Marker	aClusterMarkerMsg
std::list< Vec2i >	aPath
std::vector< Vec2i >	aFrontiers
std::vector< Vec2i >	aCentroids
std::vector< Vec2i >	aFilteredCentroids
std::vector< std::vector< Vec2i > >	aClusters
std::vector< std::vector< Vec2i > >	aFilteredClusters

Constructor & Destructor Documentation

FrontierDiscoveryNode()

FrontierDiscoveryNode::FrontierDiscoveryNode

(

)

~FrontierDiscoveryNode()

FrontierDiscoveryNode::~FrontierDiscoveryNode

(

)

Member Function Documentation

ComputeCallback()

void FrontierDiscoveryNode::ComputeCallback ( std_msgs::String::ConstPtr  msg )

private

ComputeCentroidValue()

double FrontierDiscoveryNode::ComputeCentroidValue ( nav_msgs::OccupancyGrid &  occ, Vec2i &  centroid, const double &  lidarRange  )

private

CreateMarker()

void FrontierDiscoveryNode::CreateMarker ( visualization_msgs::Marker &  input, const char *  ns, const int &  id, const int &  seq  )

private

CSpaceCallback()

void FrontierDiscoveryNode::CSpaceCallback ( nav_msgs::OccupancyGrid::ConstPtr  msg )

private

EstimatePoseCallback()

void FrontierDiscoveryNode::EstimatePoseCallback ( multirobotsimulations::CustomPose::ConstPtr  msg )

private

ResetFrontierMsg()

void FrontierDiscoveryNode::ResetFrontierMsg ( multirobotsimulations::Frontiers &  msg )

private

SetPoseArr()

void FrontierDiscoveryNode::SetPoseArr ( geometry_msgs::PoseArray &  arr, const int &  seq  )

private

Update()

void FrontierDiscoveryNode::Update ( )

private

Member Data Documentation

aCentroids

std::vector<Vec2i> FrontierDiscoveryNode::aCentroids

private

aClusterDetectionMin

int FrontierDiscoveryNode::aClusterDetectionMin

private

aClusterMarkerMsg

visualization_msgs::Marker FrontierDiscoveryNode::aClusterMarkerMsg

private

aClusterMarkerPub

ros::Publisher FrontierDiscoveryNode::aClusterMarkerPub

private

aClusters

std::vector<std::vector<Vec2i> > FrontierDiscoveryNode::aClusters

private

aFilteredCentroids

std::vector<Vec2i> FrontierDiscoveryNode::aFilteredCentroids

private

aFilteredClusters

std::vector<std::vector<Vec2i> > FrontierDiscoveryNode::aFilteredClusters

private

aFrontierMsg

multirobotsimulations::Frontiers FrontierDiscoveryNode::aFrontierMsg

private

aFrontiers

std::vector<Vec2i> FrontierDiscoveryNode::aFrontiers

private

aFrontiersClustersPub

ros::Publisher FrontierDiscoveryNode::aFrontiersClustersPub

private

aFrontiersMap

nav_msgs::OccupancyGrid FrontierDiscoveryNode::aFrontiersMap

private

aFrontiersMapPub

ros::Publisher FrontierDiscoveryNode::aFrontiersMapPub

private

aHasPose

bool FrontierDiscoveryNode::aHasPose

private

aId

int FrontierDiscoveryNode::aId

private

aMaxLidarRange

double FrontierDiscoveryNode::aMaxLidarRange

private

aNamespace

std::string FrontierDiscoveryNode::aNamespace

private

aOcc

nav_msgs::OccupancyGrid FrontierDiscoveryNode::aOcc

private

aPath

std::list<Vec2i> FrontierDiscoveryNode::aPath

private

aPos

Vec2i FrontierDiscoveryNode::aPos

private

aPoseArrMsg

geometry_msgs::PoseArray FrontierDiscoveryNode::aPoseArrMsg

private

aQueueSize

int FrontierDiscoveryNode::aQueueSize

private

aRate

double FrontierDiscoveryNode::aRate

private

aReceivedCSpace

bool FrontierDiscoveryNode::aReceivedCSpace

private

aSeq

int FrontierDiscoveryNode::aSeq

private

aState

FrontierState FrontierDiscoveryNode::aState

private

aSubscribers

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

private

aTimers

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

private

aWorldPos

geometry_msgs::Pose FrontierDiscoveryNode::aWorldPos

private

aYaw

double FrontierDiscoveryNode::aYaw

private

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

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