IntegratedGlobalPlannerNode Class Reference

#include <IntegratedGlobalPlannerNode.h>

Collaboration diagram for IntegratedGlobalPlannerNode:

Public Member Functions
	IntegratedGlobalPlannerNode ()
	~IntegratedGlobalPlannerNode ()

Private Member Functions
void	CreateMarker (visualization_msgs::Marker &input, const char *ns, const int &id, const int &seq)
void	DepthFirstSearchFreePath (nav_msgs::OccupancyGrid &cspace, Vec2i &occpos, Vec2i &source, Vec2i &closest, std::list< Vec2i > &outpath)
void	ChangeState (const SubGoalState &newState)
void	CSpaceCallback (nav_msgs::OccupancyGrid::ConstPtr msg)
void	PoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
void	AverageVelocityCallback (std_msgs::Float32::ConstPtr msg)
void	GoalCallback (geometry_msgs::Pose::ConstPtr msg)
void	StopCallBack (std_msgs::String::ConstPtr msg)
void	Update ()

Private Attributes
int	aQueueSize
int	aId
int	aSeq
int	aDeltaTimeSec
bool	aHasPose
bool	aHasOcc
bool	aHasAverageVelocity
double	aRate
double	aDistance
double	aSubGoalReachThreshold
double	aStuckTimeThreshold
double	aStuckTime
double	aAverageVelocity
std::string	aNamespace
std::vector< ros::Timer >	aTimers
std::vector< ros::Subscriber >	aSubscribers
ros::Publisher	aPathMarkerPublisher
ros::Publisher	aFinishEventPublisher
ros::Publisher	aCurrentPathPublisher
nav_msgs::Path	aPathMsg
std_msgs::String	aStrMsg
visualization_msgs::Marker	aPathMarkerMsg
nav_msgs::OccupancyGrid	aCspace
ros::Time	last_time
std::list< Vec2i >	aWaypoints
tf::Vector3	aLastPos
tf::Vector3	aWorldPos
tf::Vector3	aCurrentGoal
Vec2i	aOccPos
SubGoalState	aCurrentState

Constructor & Destructor Documentation

IntegratedGlobalPlannerNode()

IntegratedGlobalPlannerNode::IntegratedGlobalPlannerNode

(

)

~IntegratedGlobalPlannerNode()

IntegratedGlobalPlannerNode::~IntegratedGlobalPlannerNode

(

)

Member Function Documentation

AverageVelocityCallback()

void IntegratedGlobalPlannerNode::AverageVelocityCallback ( std_msgs::Float32::ConstPtr  msg )

private

ChangeState()

void IntegratedGlobalPlannerNode::ChangeState ( const SubGoalState &  newState )

private

CreateMarker()

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

private

CSpaceCallback()

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

private

DepthFirstSearchFreePath()

void IntegratedGlobalPlannerNode::DepthFirstSearchFreePath ( nav_msgs::OccupancyGrid &  cspace, Vec2i &  occpos, Vec2i &  source, Vec2i &  closest, std::list< Vec2i > &  outpath  )

private

GoalCallback()

void IntegratedGlobalPlannerNode::GoalCallback ( geometry_msgs::Pose::ConstPtr  msg )

private

PoseCallback()

void IntegratedGlobalPlannerNode::PoseCallback ( multirobotsimulations::CustomPose::ConstPtr  msg )

private

StopCallBack()

void IntegratedGlobalPlannerNode::StopCallBack ( std_msgs::String::ConstPtr  msg )

private

Update()

void IntegratedGlobalPlannerNode::Update ( )

private

Member Data Documentation

aAverageVelocity

double IntegratedGlobalPlannerNode::aAverageVelocity

private

aCspace

nav_msgs::OccupancyGrid IntegratedGlobalPlannerNode::aCspace

private

aCurrentGoal

tf::Vector3 IntegratedGlobalPlannerNode::aCurrentGoal

private

aCurrentPathPublisher

ros::Publisher IntegratedGlobalPlannerNode::aCurrentPathPublisher

private

aCurrentState

SubGoalState IntegratedGlobalPlannerNode::aCurrentState

private

aDeltaTimeSec

int IntegratedGlobalPlannerNode::aDeltaTimeSec

private

aDistance

double IntegratedGlobalPlannerNode::aDistance

private

aFinishEventPublisher

ros::Publisher IntegratedGlobalPlannerNode::aFinishEventPublisher

private

aHasAverageVelocity

bool IntegratedGlobalPlannerNode::aHasAverageVelocity

private

aHasOcc

bool IntegratedGlobalPlannerNode::aHasOcc

private

aHasPose

bool IntegratedGlobalPlannerNode::aHasPose

private

aId

int IntegratedGlobalPlannerNode::aId

private

aLastPos

tf::Vector3 IntegratedGlobalPlannerNode::aLastPos

private

aNamespace

std::string IntegratedGlobalPlannerNode::aNamespace

private

aOccPos

Vec2i IntegratedGlobalPlannerNode::aOccPos

private

aPathMarkerMsg

visualization_msgs::Marker IntegratedGlobalPlannerNode::aPathMarkerMsg

private

aPathMarkerPublisher

ros::Publisher IntegratedGlobalPlannerNode::aPathMarkerPublisher

private

aPathMsg

nav_msgs::Path IntegratedGlobalPlannerNode::aPathMsg

private

aQueueSize

int IntegratedGlobalPlannerNode::aQueueSize

private

aRate

double IntegratedGlobalPlannerNode::aRate

private

aSeq

int IntegratedGlobalPlannerNode::aSeq

private

aStrMsg

std_msgs::String IntegratedGlobalPlannerNode::aStrMsg

private

aStuckTime

double IntegratedGlobalPlannerNode::aStuckTime

private

aStuckTimeThreshold

double IntegratedGlobalPlannerNode::aStuckTimeThreshold

private

aSubGoalReachThreshold

double IntegratedGlobalPlannerNode::aSubGoalReachThreshold

private

aSubscribers

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

private

aTimers

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

private

aWaypoints

std::list<Vec2i> IntegratedGlobalPlannerNode::aWaypoints

private

aWorldPos

tf::Vector3 IntegratedGlobalPlannerNode::aWorldPos

private

last_time

ros::Time IntegratedGlobalPlannerNode::last_time

private

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

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