explore_frontier.h

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#ifndef EXPLORE_FRONTIER_H_
#define EXPLORE_FRONTIER_H_

#include <nav_msgs/GetMap.h>
#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose.h>
#include <visualization_msgs/Marker.h>

#include <LinearMath/btVector3.h>

#include <costmap_2d/costmap_2d_ros.h>
#include <navfn/navfn_ros.h>
#include <tf/transform_listener.h>

namespace explore {

struct FrontierPoint{
  int idx;     //position
  btVector3 d; //direction

  FrontierPoint(int idx_, btVector3 d_) : idx(idx_), d(d_) {};
};

struct Frontier {
  geometry_msgs::Pose pose;
  int size;
  Frontier():pose(),size(0) {}
  Frontier(const Frontier& copy) { pose = copy.pose; size = copy.size; }
};

struct WeightedFrontier {
  Frontier frontier;
  float cost;
  bool operator<(const WeightedFrontier& o) const { return cost < o.cost; }
  WeightedFrontier():frontier(),cost(1e9) {}
  WeightedFrontier(const WeightedFrontier& copy) { frontier = copy.frontier; cost = copy.cost; }
};

class ExploreFrontier {
private:
  nav_msgs::OccupancyGrid map_;

  uint lastMarkerCount_;
  float costmapResolution_;

  navfn::NavfnROS* planner_;
protected:
  std::vector<Frontier> frontiers_;

  virtual void findFrontiers(costmap_2d::Costmap2DROS& costmap_);

  virtual float getFrontierCost(const Frontier& frontier);

  virtual double getOrientationChange(const Frontier& frontier, const tf::Stamped<tf::Pose>& robot_pose);

  virtual float getFrontierGain(const Frontier& frontier, double map_resolution);

public:
  ExploreFrontier();
  virtual ~ExploreFrontier();

  virtual bool getFrontiers(costmap_2d::Costmap2DROS& costmap, std::vector<geometry_msgs::Pose>& frontiers);

  virtual bool getExplorationGoals(costmap_2d::Costmap2DROS& costmap, geometry_msgs::Point start, navfn::NavfnROS* planner, std::vector<geometry_msgs::Pose>& goals, double cost_scale, double orientation_scale, double gain_scale);

  virtual void getVisualizationMarkers(std::vector<visualization_msgs::Marker>& markers);
};

}

#endif /* EXPLORE_FRONTIER_H_ */