Classes | Public Member Functions | Public Attributes | Private Attributes
Explorer Class Reference

List of all members.

Classes

struct  map_progress_t

Public Member Functions

void exploration_has_finished ()
void explore ()
 Explorer (tf::TransformListener &tf)
void feedbackCallback (const move_base_msgs::MoveBaseActionFeedback::ConstPtr &msg)
void frontiers ()
int global_costmap_size ()
void indicateSimulationEnd ()
void initLogPath ()
bool iterate_global_costmap (std::vector< double > *global_goal, std::vector< std::string > *robot_str)
int local_costmap_size ()
void map_info ()
bool move_robot (int seq, double position_x, double position_y)
bool navigate (std::vector< double > goal)
void save_progress (bool final=false)
bool target_reached (void)
bool turn_robot (int seq)
void visualize_goal_point (double x, double y)
void visualize_home_point ()

Public Attributes

int accessing_cluster
int cluster_element
int cluster_element_size
bool cluster_flag
bool cluster_initialize_flag
std::vector< int > clusters_available_in_pool
costmap_2d::Costmap2D costmap
costmap_2d::Costmap2DROScostmap2d_global
costmap_2d::Costmap2DROScostmap2d_local
costmap_2d::Costmap2DROScostmap2d_local_size
int costmap_width
int counter_waiting_for_clusters
std::string csv_file
int frontier_selection
std::fstream fs
std::fstream fs_csv
int global_costmap_iteration
int global_iterations_counter
int global_iterattions
bool goal_determined
int home_position_x
int home_position_y
std::string log_file
std::string log_path
struct Explorer::map_progress_t map_progress
std::vector< map_progress_tmap_progress_during_exploration
std::string move_base_frame
int number_of_robots
int number_unreachable_frontiers_for_cluster
const unsigned char * occupancy_grid_global
const unsigned char * occupancy_grid_local
double robot_home_position_x
double robot_home_position_y
int robot_id
std::string robot_name
 The prefix for the robot when used in simulation.
std::string robot_prefix
bool robot_prefix_empty
bool Simulation
ros::Subscriber sub_move_base
ros::Subscriber sub_obstacle
int waitForResult

Private Attributes

move_base_msgs::MoveBaseActionGoal action_goal_msg
int counter
explorationPlanner::ExplorationPlannerexploration
bool exploration_finished
move_base_msgs::MoveBaseActionFeedback feedback_msgs
int feedback_succeed_value
int feedback_value
int goal_point_message
geometry_msgs::PointStamped goalPoint
std::vector
< geometry_msgs::PoseStamped > 
goals
int home_point_message
double home_point_x
double home_point_y
geometry_msgs::PointStamped homePoint
ros::ServiceClient mm_log_client
ros::NodeHandle nh
bool pioneer
ros::Publisher pub_frontiers
ros::Publisher pub_home_Point
ros::Publisher pub_move_base
ros::Publisher pub_Point
tf::Stamped< tf::PoserobotPose
int rotation_counter
int seq
ros::Time time_start
double x_val
double y_val

Detailed Description

Definition at line 45 of file explorer.cpp.


Constructor & Destructor Documentation

Definition at line 49 of file explorer.cpp.


Member Function Documentation

request local and global map

Definition at line 1045 of file explorer.cpp.

void Explorer::explore ( ) [inline]

Definition at line 241 of file explorer.cpp.

void Explorer::feedbackCallback ( const move_base_msgs::MoveBaseActionFeedback::ConstPtr &  msg) [inline]

Definition at line 1557 of file explorer.cpp.

void Explorer::frontiers ( ) [inline]

Definition at line 776 of file explorer.cpp.

Definition at line 857 of file explorer.cpp.

FIXME: remove this stuff once ported to multicast

TODO: check whether directory exists

Definition at line 1096 of file explorer.cpp.

void Explorer::initLogPath ( ) [inline]

Definition at line 906 of file explorer.cpp.

bool Explorer::iterate_global_costmap ( std::vector< double > *  global_goal,
std::vector< std::string > *  robot_str 
) [inline]

Definition at line 1124 of file explorer.cpp.

int Explorer::local_costmap_size ( ) [inline]

Definition at line 873 of file explorer.cpp.

void Explorer::map_info ( ) [inline]

request local and global map progress

Definition at line 798 of file explorer.cpp.

bool Explorer::move_robot ( int  seq,
double  position_x,
double  position_y 
) [inline]

Definition at line 1427 of file explorer.cpp.

bool Explorer::navigate ( std::vector< double >  goal) [inline]

Definition at line 1284 of file explorer.cpp.

void Explorer::save_progress ( bool  final = false) [inline]

request local and global map

Definition at line 937 of file explorer.cpp.

bool Explorer::target_reached ( void  ) [inline]

Definition at line 1565 of file explorer.cpp.

bool Explorer::turn_robot ( int  seq) [inline]

Definition at line 1505 of file explorer.cpp.

void Explorer::visualize_goal_point ( double  x,
double  y 
) [inline]

Definition at line 1396 of file explorer.cpp.

void Explorer::visualize_home_point ( ) [inline]

Definition at line 1410 of file explorer.cpp.


Member Data Documentation

Definition at line 1606 of file explorer.cpp.

move_base_msgs::MoveBaseActionGoal Explorer::action_goal_msg [private]

Definition at line 1634 of file explorer.cpp.

Definition at line 1606 of file explorer.cpp.

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int Explorer::counter [private]

Definition at line 1649 of file explorer.cpp.

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std::string Explorer::csv_file

Definition at line 1617 of file explorer.cpp.

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move_base_msgs::MoveBaseActionFeedback Explorer::feedback_msgs [private]

Definition at line 1635 of file explorer.cpp.

Definition at line 1647 of file explorer.cpp.

int Explorer::feedback_value [private]

Definition at line 1647 of file explorer.cpp.

Definition at line 1600 of file explorer.cpp.

std::fstream Explorer::fs

Definition at line 1619 of file explorer.cpp.

std::fstream Explorer::fs_csv

Definition at line 1619 of file explorer.cpp.

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geometry_msgs::PointStamped Explorer::goalPoint [private]

Definition at line 1638 of file explorer.cpp.

std::vector<geometry_msgs::PoseStamped> Explorer::goals [private]

Definition at line 1641 of file explorer.cpp.

Definition at line 1647 of file explorer.cpp.

double Explorer::home_point_x [private]

Definition at line 1646 of file explorer.cpp.

double Explorer::home_point_y [private]

Definition at line 1646 of file explorer.cpp.

Definition at line 1598 of file explorer.cpp.

Definition at line 1598 of file explorer.cpp.

geometry_msgs::PointStamped Explorer::homePoint [private]

Definition at line 1639 of file explorer.cpp.

std::string Explorer::log_file

Definition at line 1617 of file explorer.cpp.

std::string Explorer::log_path

Definition at line 1618 of file explorer.cpp.

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const unsigned char* Explorer::occupancy_grid_global

Definition at line 1614 of file explorer.cpp.

const unsigned char* Explorer::occupancy_grid_local

Definition at line 1615 of file explorer.cpp.

bool Explorer::pioneer [private]

Definition at line 1650 of file explorer.cpp.

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std::string Explorer::robot_name

The prefix for the robot when used in simulation.

Definition at line 1613 of file explorer.cpp.

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int Explorer::seq [private]

Definition at line 1647 of file explorer.cpp.

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double Explorer::x_val [private]

Definition at line 1646 of file explorer.cpp.

double Explorer::y_val [private]

Definition at line 1646 of file explorer.cpp.


The documentation for this class was generated from the following file:


explorer
Author(s): Daniel Neuhold , Torsten Andre
autogenerated on Thu Jun 6 2019 20:59:53