explore_frontier.h
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00036 
00037 #ifndef EXPLORE_FRONTIER_H_
00038 #define EXPLORE_FRONTIER_H_
00039 
00040 #include <nav_msgs/GetMap.h>
00041 #include <nav_msgs/OccupancyGrid.h>
00042 #include <geometry_msgs/Pose.h>
00043 #include <visualization_msgs/Marker.h>
00044 
00045 #include <LinearMath/btVector3.h>
00046 
00047 #include <costmap_2d/costmap_2d_ros.h>
00048 #include <navfn/navfn_ros.h>
00049 #include <tf/transform_listener.h>
00050 
00051 namespace explore {
00052 
00053 struct FrontierPoint{
00054   int idx;     //position
00055   btVector3 d; //direction
00056 
00057   FrontierPoint(int idx_, btVector3 d_) : idx(idx_), d(d_) {};
00058 };
00059 
00060 struct Frontier {
00061   geometry_msgs::Pose pose;
00062   int size;
00063   Frontier():pose(),size(0) {}
00064   Frontier(const Frontier& copy) { pose = copy.pose; size = copy.size; }
00065 };
00066 
00067 struct WeightedFrontier {
00068   Frontier frontier;
00069   float cost;
00070   bool operator<(const WeightedFrontier& o) const { return cost < o.cost; }
00071   WeightedFrontier():frontier(),cost(1e9) {}
00072   WeightedFrontier(const WeightedFrontier& copy) { frontier = copy.frontier; cost = copy.cost; }
00073 };
00074 
00079 class ExploreFrontier {
00080 private:
00081   nav_msgs::OccupancyGrid map_;
00082 
00083   uint lastMarkerCount_;
00084   float costmapResolution_;
00085 
00086   navfn::NavfnROS* planner_;
00087 protected:
00088   std::vector<Frontier> frontiers_;
00089 
00094   virtual void findFrontiers(costmap_2d::Costmap2DROS& costmap_);
00095 
00100   virtual float getFrontierCost(const Frontier& frontier);
00101 
00107   virtual double getOrientationChange(const Frontier& frontier, const tf::Stamped<tf::Pose>& robot_pose);
00108 
00113   virtual float getFrontierGain(const Frontier& frontier, double map_resolution);
00114 
00115 public:
00116   ExploreFrontier();
00117   virtual ~ExploreFrontier();
00118 
00125   virtual bool getFrontiers(costmap_2d::Costmap2DROS& costmap, std::vector<geometry_msgs::Pose>& frontiers);
00126 
00146   virtual bool getExplorationGoals(costmap_2d::Costmap2DROS& costmap, tf::Stamped<tf::Pose> robot_pose, navfn::NavfnROS* planner, std::vector<geometry_msgs::Pose>& goals, double cost_scale, double orientation_scale, double gain_scale);
00147 
00152   virtual void getVisualizationMarkers(std::vector<visualization_msgs::Marker>& markers);
00153 };
00154 
00155 }
00156 
00157 #endif /* EXPLORE_FRONTIER_H_ */


explore
Author(s): Charles DuHadway (maintained by Benjamin Pitzer)
autogenerated on Thu Jan 2 2014 11:19:32