topological_roadmap Namespace Reference

Classes
struct	BlockedEdge
struct	DuplicateEdgeIdException
	Exception for trying to add an EdgeId that already exists. More...
struct	DuplicateNodeIdException
	Exception for trying to add a NodeId that already exists. More...
class	MoveBaseTopo
struct	ParallelEdgeException
	Exception when trying to add edge between two already connected nodes. More...
class	Roadmap
class	RoadmapException
class	RoadmapNode
struct	SingleSourceShortestPaths
struct	UnknownEdgeIdException
	Exception for unknown EdgeId. More...
struct	UnknownNodeIdException
	Exception for unknown node id. More...
Typedefs
typedef pair< DistanceMap, PredMap >	DijkstraResult
typedef map< GraphVertex, double >	DistanceMap
typedef std::map< unsigned, GraphEdge >	EdgeMap
typedef std::vector< unsigned >	EdgeVec
typedef boost::adjacency_list < boost::multisetS, boost::listS, boost::undirectedS, msg::RoadmapNode, msg::RoadmapEdge >	Graph
typedef boost::graph_traits < Graph >::edge_descriptor	GraphEdge
typedef boost::graph_traits < Graph >::vertex_descriptor	GraphVertex
typedef vector< unsigned >	Grids
typedef boost::mutex::scoped_lock	Lock
typedef vector< unsigned >	Nodes
typedef std::vector< unsigned >	NodeVec
typedef std::pair< NodeVec, EdgeVec >	Path
typedef vector< gm::Point >	PointVec
typedef map< GraphVertex, GraphVertex >	PredMap
typedef boost::shared_ptr < SingleSourceShortestPaths >	ResultPtr
typedef std::map< unsigned, GraphVertex >	VertexMap
typedef std::vector< unsigned >	WaypointVec
Functions
DijkstraResult	dijkstra (const Roadmap &r, const unsigned src)
optional< Path >	extractPath (DijkstraResult &res, const unsigned src, const unsigned dest, const Roadmap &r)
boost::optional< Path >	extractPath (ResultPtr res, unsigned dest)
	Extract path from shortest path query, or null value if there's no path.
optional< gm::Point >	freePointNear (const nm::OccupancyGrid &grid, const double x0, const double y0, const double r)
Roadmap	fromRosMessage (const msg::TopologicalRoadmap &r)
	Convert TopologicalRoadmapROS message back into ROS.
gm::Point	nodePos (const Roadmap &r, tf::TransformListener &tf, const std::string &frame, const unsigned n)
pair< Nodes, PointVec >	nodesOnGrid (const unsigned g, const Roadmap &r, const tmap::TopologicalMap &tmap)
std::pair< std::vector < unsigned >, std::vector < geometry_msgs::Point > >	nodesOnGrid (const unsigned g, const Roadmap &r, const topological_map_2d::TopologicalMap &t)
unsigned	notificationGrid (const wh::UpdateNotification &m)
gm::Point	positionOnGrid (const unsigned n, const unsigned g, const Roadmap &r, const tmap::TopologicalMap &tmap)
geometry_msgs::Point	positionOnGrid (unsigned n, unsigned g, const Roadmap &r, const topological_map_2d::TopologicalMap &t)
ResultPtr	shortestPaths (const Roadmap &r, unsigned src)
	Return object that can be used for shortest path queries Note the code scales with the largest node id in the graph, and assumes all edge costs are positive.
msg::TopologicalRoadmap::Ptr	toRosMessage (const Roadmap &r)
	Convert Roadmap into TopologicalRoadmap ROS message.
void	visualize (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const bool use_node_ids, const Path &path)
void	visualize (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, bool use_node_ids, const std::vector< unsigned > &path)
void	visualizeEdges (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const Path &plan)
void	visualizeNodes (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const bool use_node_ids)

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Typedef Documentation

typedef pair<DistanceMap, PredMap> topological_roadmap::DijkstraResult

Definition at line 60 of file shortest_paths.cpp.

typedef map<GraphVertex, double> topological_roadmap::DistanceMap

Definition at line 58 of file shortest_paths.cpp.

typedef std::map<unsigned, GraphEdge> topological_roadmap::EdgeMap

Definition at line 53 of file roadmap.cpp.

typedef std::vector<unsigned> topological_roadmap::EdgeVec

Definition at line 51 of file shortest_paths.h.

typedef boost::adjacency_list<boost::multisetS, boost::listS, boost::undirectedS, msg::RoadmapNode, msg::RoadmapEdge> topological_roadmap::Graph

Definition at line 52 of file roadmap.h.

typedef boost::graph_traits<Graph>::edge_descriptor topological_roadmap::GraphEdge

Definition at line 53 of file roadmap.h.

typedef boost::graph_traits<Graph>::vertex_descriptor topological_roadmap::GraphVertex

Definition at line 54 of file roadmap.h.

typedef vector<unsigned> topological_roadmap::Grids

Definition at line 56 of file roadmap.cpp.

typedef boost::mutex::scoped_lock topological_roadmap::Lock

Definition at line 59 of file move_base_topo.cpp.

typedef std::set< unsigned > topological_roadmap::Nodes

Definition at line 55 of file roadmap.cpp.

typedef std::vector<unsigned> topological_roadmap::NodeVec

Definition at line 50 of file shortest_paths.h.

typedef std::vector< unsigned > topological_roadmap::Path

Definition at line 52 of file shortest_paths.h.

typedef vector< gm::Point > topological_roadmap::PointVec

Definition at line 54 of file roadmap.cpp.

typedef map<GraphVertex, GraphVertex> topological_roadmap::PredMap

Definition at line 59 of file shortest_paths.cpp.

typedef boost::shared_ptr<SingleSourceShortestPaths> topological_roadmap::ResultPtr

Definition at line 47 of file shortest_paths.h.

typedef std::map<unsigned, GraphVertex> topological_roadmap::VertexMap

Definition at line 52 of file roadmap.cpp.

typedef std::vector<unsigned> topological_roadmap::WaypointVec

Definition at line 68 of file move_base_topo.h.

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Function Documentation

DijkstraResult topological_roadmap::dijkstra	(	const Roadmap &	r,
		const unsigned	src
	)

Definition at line 62 of file shortest_paths.cpp.

optional<Path> topological_roadmap::extractPath	(	DijkstraResult &	res,
		const unsigned	src,
		const unsigned	dest,
		const Roadmap &	r
	)

Definition at line 128 of file shortest_paths.cpp.

optional< Path > topological_roadmap::extractPath	(	ResultPtr	res,
		unsigned	dest
	)

Extract path from shortest path query, or null value if there's no path.

Definition at line 156 of file shortest_paths.cpp.

optional<gm::Point> topological_roadmap::freePointNear	(	const nm::OccupancyGrid &	grid,
		const double	x0,
		const double	y0,
		const double	r
	)

Definition at line 228 of file roadmap_builder.cpp.

Roadmap topological_roadmap::fromRosMessage

(

const msg::TopologicalRoadmap &

r

)

Convert TopologicalRoadmapROS message back into ROS.

Definition at line 68 of file ros_conversion.cpp.

gm::Point topological_roadmap::nodePos	(	const Roadmap &	r,
		tf::TransformListener &	tf,
		const std::string &	frame,
		const unsigned	n
	)

Definition at line 82 of file ros_conversion.cpp.

pair<Nodes, PointVec> topological_roadmap::nodesOnGrid	(	const unsigned	g,
		const Roadmap &	r,
		const tmap::TopologicalMap &	tmap
	)

Definition at line 216 of file roadmap.cpp.

std::pair<std::vector<unsigned>, std::vector<geometry_msgs::Point> > topological_roadmap::nodesOnGrid	(	const unsigned	g,
		const Roadmap &	r,
		const topological_map_2d::TopologicalMap &	t
	)

Return values:

All

waypoints lying on a given grid of the topological map

unsigned topological_roadmap::notificationGrid

(

const wh::UpdateNotification &

m

)

Definition at line 455 of file roadmap_builder.cpp.

gm::Point topological_roadmap::positionOnGrid	(	const unsigned	n,
		const unsigned	g,
		const Roadmap &	r,
		const tmap::TopologicalMap &	tmap
	)

Definition at line 192 of file roadmap.cpp.

geometry_msgs::Point topological_roadmap::positionOnGrid	(	unsigned	n,
		unsigned	g,
		const Roadmap &	r,
		const topological_map_2d::TopologicalMap &	t
	)

Return values:

Position

of a waypoint wrt a grid on the topological map

ResultPtr topological_roadmap::shortestPaths	(	const Roadmap &	r,
		unsigned	src
	)

Return object that can be used for shortest path queries Note the code scales with the largest node id in the graph, and assumes all edge costs are positive.

Definition at line 122 of file shortest_paths.cpp.

msg::TopologicalRoadmap::Ptr topological_roadmap::toRosMessage

(

const Roadmap &

r

)

Convert Roadmap into TopologicalRoadmap ROS message.

Definition at line 55 of file ros_conversion.cpp.

void topological_roadmap::visualize	(	const Roadmap &	r,
		ros::Publisher &	pub,
		tf::TransformListener &	tf,
		const std::string &	frame,
		const bool	use_node_ids,
		const Path &	path
	)

Definition at line 204 of file ros_conversion.cpp.

void topological_roadmap::visualize	(	const Roadmap &	r,
		ros::Publisher &	pub,
		tf::TransformListener &	tf,
		const std::string &	frame,
		bool	use_node_ids,
		const std::vector< unsigned > &	path
	)

Visualize roadmap r using pub, which must be a publisher of VisualizationMarker messages.

Parameters:

	frame	Frame to transform data into before publishing.
	use_node_ids	If true, each node will be a separate marker with the corresponding node's id, to facilitate debugging. If false, the entire roadmap will be published as a single marker.

void topological_roadmap::visualizeEdges	(	const Roadmap &	r,
		ros::Publisher &	pub,
		tf::TransformListener &	tf,
		const std::string &	frame,
		const Path &	plan
	)

Definition at line 142 of file ros_conversion.cpp.

void topological_roadmap::visualizeNodes	(	const Roadmap &	r,
		ros::Publisher &	pub,
		tf::TransformListener &	tf,
		const std::string &	frame,
		const bool	use_node_ids
	)

Definition at line 94 of file ros_conversion.cpp.