File List

Here is a list of all files with brief descriptions:

circle_provider.cpp [code] | Implementation for circle_provider.h |

circle_provider.h [code] | |

connected_components.cpp [code] | |

connected_components.h [code] | Connected Components implementation to get all the points in a critical region, along with neighbouring critical points to form the topological graph |

directed_dfs.cpp [code] | Implementation of the Directed DFS class |

directed_dfs.h [code] | A specific implementation of Directed DFS (DFS with a priority queue) to find whether 2 points are close in obstacle space. Priority is done on using the Euclidean distance to the goal as a heuristic |

generate_graph.cpp [code] | |

graph.cpp [code] | Implementation for graph functions |

graph.h [code] | Contains some simple data structures for holding the graph |

map_inflator.cpp [code] | Provides an implementation for map_inflator.h |

map_inflator.h [code] | Provides a simple costmap inflation function |

map_loader.cpp [code] | Implementation for map_loader.h |

map_loader.h [code] | Simple wrapper around the map_server code to read maps from a the supplied yaml file. This class itself is based on the map_server node inside the map_server package (written by Brian Gerkey) |

map_utils.cpp [code] | Implementation for map utilities |

map_utils.h [code] | |

path_finder.cpp [code] | |

path_finder.h [code] | |

point.cpp [code] | Implementations for the basic point data structures |

point.h [code] | |

point_utils.cpp [code] | |

point_utils.h [code] | Some helpful utilities while dealing with points |

prepare_graph.cpp [code] | |

test_circle.cpp [code] | Simple command line test for the circle provider |

test_dfs.cpp [code] | Simple test for the graph generator. Reads a map and displays information from the topological mapper on to the screen |

test_graph.cpp [code] | |

test_map_loader.cpp [code] | Simple test for the map loader. Reads a map and displays it on the screen using opencv highgui |

test_voronoi.cpp [code] | Simple test for the voronoi approximator. Reads a map and displays information from the voronoi approximator on to the screen |

topological_mapper.cpp [code] | Implementation for the topological mapper |

topological_mapper.h [code] | Constructs the topological graph using the voronoi approximation |

view_graph.cpp [code] | |

voronoi_approximator.cpp [code] | Implementation for the voronoi approximator |

voronoi_approximator.h [code] | Constructs a voronoi approximation given a map of the world. The map is a discrete grid world with each cell set to occupied or not, and the voronoi approximation is done in this discrete space |

voronoi_point.cpp [code] | Implementation of the voronoi point class |

voronoi_point.h [code] | Base class for a voronoi point. Simple wrapper around Point2d that maintains a given separation between basis points |