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::Costmap2DROS *	costmap2d_global
costmap_2d::Costmap2DROS *	costmap2d_local
costmap_2d::Costmap2DROS *	costmap2d_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_t >	map_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::ExplorationPlanner *	exploration
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::Pose >	robotPose
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

Explorer::Explorer

(

tf::TransformListener &

tf

)

[inline]

Definition at line 49 of file explorer.cpp.

---

Member Function Documentation

void Explorer::exploration_has_finished

(

)

[inline]

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.

int Explorer::global_costmap_size

(

)

[inline]

Definition at line 857 of file explorer.cpp.

void Explorer::indicateSimulationEnd

(

)

[inline]

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

int Explorer::accessing_cluster

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.

int Explorer::cluster_element

Definition at line 1606 of file explorer.cpp.

int Explorer::cluster_element_size

Definition at line 1606 of file explorer.cpp.

bool Explorer::cluster_flag

Definition at line 1608 of file explorer.cpp.

bool Explorer::cluster_initialize_flag

Definition at line 1608 of file explorer.cpp.

std::vector<int> Explorer::clusters_available_in_pool

Definition at line 1596 of file explorer.cpp.

costmap_2d::Costmap2D Explorer::costmap

Definition at line 1592 of file explorer.cpp.

costmap_2d::Costmap2DROS* Explorer::costmap2d_global

Definition at line 1591 of file explorer.cpp.

costmap_2d::Costmap2DROS* Explorer::costmap2d_local

Definition at line 1589 of file explorer.cpp.

costmap_2d::Costmap2DROS* Explorer::costmap2d_local_size

Definition at line 1590 of file explorer.cpp.

int Explorer::costmap_width

Definition at line 1600 of file explorer.cpp.

int Explorer::counter [private]

Definition at line 1649 of file explorer.cpp.

int Explorer::counter_waiting_for_clusters

Definition at line 1601 of file explorer.cpp.

std::string Explorer::csv_file

Definition at line 1617 of file explorer.cpp.

explorationPlanner::ExplorationPlanner* Explorer::exploration [private]

Definition at line 1644 of file explorer.cpp.

bool Explorer::exploration_finished [private]

Definition at line 1650 of file explorer.cpp.

move_base_msgs::MoveBaseActionFeedback Explorer::feedback_msgs [private]

Definition at line 1635 of file explorer.cpp.

int Explorer::feedback_succeed_value [private]

Definition at line 1647 of file explorer.cpp.

int Explorer::feedback_value [private]

Definition at line 1647 of file explorer.cpp.

int Explorer::frontier_selection

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.

int Explorer::global_costmap_iteration

Definition at line 1600 of file explorer.cpp.

int Explorer::global_iterations_counter

Definition at line 1609 of file explorer.cpp.

int Explorer::global_iterattions

Definition at line 1607 of file explorer.cpp.

bool Explorer::goal_determined

Definition at line 1604 of file explorer.cpp.

int Explorer::goal_point_message [private]

Definition at line 1647 of file explorer.cpp.

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.

int Explorer::home_point_message [private]

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.

int Explorer::home_position_x

Definition at line 1598 of file explorer.cpp.

int Explorer::home_position_y

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.

struct Explorer::map_progress_t Explorer::map_progress

std::vector<map_progress_t> Explorer::map_progress_during_exploration

Definition at line 1594 of file explorer.cpp.

ros::ServiceClient Explorer::mm_log_client [private]

Definition at line 1628 of file explorer.cpp.

std::string Explorer::move_base_frame

Definition at line 1611 of file explorer.cpp.

ros::NodeHandle Explorer::nh [private]

Definition at line 1630 of file explorer.cpp.

int Explorer::number_of_robots

Definition at line 1599 of file explorer.cpp.

int Explorer::number_unreachable_frontiers_for_cluster

Definition at line 1600 of file explorer.cpp.

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.

ros::Publisher Explorer::pub_frontiers [private]

Definition at line 1626 of file explorer.cpp.

ros::Publisher Explorer::pub_home_Point [private]

Definition at line 1625 of file explorer.cpp.

ros::Publisher Explorer::pub_move_base [private]

Definition at line 1623 of file explorer.cpp.

ros::Publisher Explorer::pub_Point [private]

Definition at line 1624 of file explorer.cpp.

double Explorer::robot_home_position_x

Definition at line 1603 of file explorer.cpp.

double Explorer::robot_home_position_y

Definition at line 1603 of file explorer.cpp.

int Explorer::robot_id

Definition at line 1599 of file explorer.cpp.

std::string Explorer::robot_name

The prefix for the robot when used in simulation.

Definition at line 1613 of file explorer.cpp.

std::string Explorer::robot_prefix

Definition at line 1612 of file explorer.cpp.

bool Explorer::robot_prefix_empty

Definition at line 1605 of file explorer.cpp.

tf::Stamped<tf::Pose> Explorer::robotPose [private]

Definition at line 1642 of file explorer.cpp.

int Explorer::rotation_counter [private]

Definition at line 1647 of file explorer.cpp.

int Explorer::seq [private]

Definition at line 1647 of file explorer.cpp.

bool Explorer::Simulation

Definition at line 1604 of file explorer.cpp.

ros::Subscriber Explorer::sub_move_base

Definition at line 1586 of file explorer.cpp.

ros::Subscriber Explorer::sub_obstacle

Definition at line 1586 of file explorer.cpp.

ros::Time Explorer::time_start [private]

Definition at line 1631 of file explorer.cpp.

int Explorer::waitForResult

Definition at line 1610 of file explorer.cpp.

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.

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

• explorer.cpp