| bwi_mapper::CircleProvider | Singleton class which provides the mid-point circle algorithm implementation |
| bwi_mapper::ConnectedComponents | API for 8-connected connected components algorithm to find critical regions in a map demarcated by obstalces and critical lines Neigbouring critical regions help form the topological graph. Since this algorithm is 8-connected, any demarcating lines should be drawn 4-connected if they are single pixel |
| bwi_mapper::DirectedDFS | The directed DFS class. Checks whether 2 points are close inside the map in obstacle space. Uses euclidean distance to goal to guide the search |
| bwi_mapper::Edge | |
| bwi_mapper::MapLoader | Base class for reading a standard ROS map from a YAML file and writing it to an OpenCV Image |
| bwi_mapper::PathFinder | Performs a 4-connected dynamic programming search around a given point to find which other points it is connected to in the map |
| bwi_mapper::Point2d | A simple class to hold a 2D pixel point along with distance to a reference position |
| bwi_mapper::Point2dDistanceComp | A simple class acting as a comparator for Point2d using the reference distance. Useful while using std::sort |
| Point2f | A floating point 2D point |
| bwi_mapper::TopologicalMapper | Computes the 2 variants of the topological graph using the voronoi approximator |
| bwi_mapper::Vertex | |
| bwi_mapper::VoronoiApproximator | The voronoi approximator API. Inherits MapLoader to directly load a map from file and be able to draw a map |
| bwi_mapper::VoronoiPoint |