#include <ExplorationPlanner.h>

Classes
struct	auction_element_t
struct	auction_pair_t
struct	cluster_t
struct	compare_pair_t
struct	frontier_t
struct	requested_cluster_t
struct	responded_t
struct	transform_point_t
Public Member Functions
void	auctionCallback (const adhoc_communication::ExpAuction::ConstPtr &msg)
bool	auctioning (std::vector< double > final_goal, std::vector< int > clusters_available_in_pool, std::vector< std::string > *robot_str_name)
int	calculate_travel_path (double x, double y)
int	calculateAuctionBID (int cluster_number, std::string strategy)
void	Callbacks ()
bool	check_efficiency_of_goal (double x, double y)
bool	check_trajectory_plan ()
int	check_trajectory_plan (double x, double y)
int	checkClustersID (adhoc_communication::ExpCluster cluster_to_check)
void	clear_Visualized_Cluster_Cells (std::vector< int > ids)
void	clearSeenFrontiers (costmap_2d::Costmap2DROS *global_costmap)
void	clearUnreachableFrontiers ()
void	clearVisitedAndSeenFrontiersFromClusters ()
void	clearVisitedFrontiers ()
bool	clusterFrontiers ()
bool	clusterIdToElementIds (int cluster_id, std::vector< transform_point_t > *occupied_ids)
bool	determine_goal (int strategy, std::vector< double > final_goal, int count, int actual_cluster_id, std::vector< std::string > robot_str_name)
int	estimate_trajectory_plan (double start_x, double start_y, double target_x, double target_y)
	ExplorationPlanner (int robot_id, bool robot_prefix_empty, std::string robot_name_parameter)
void	findFrontiers ()
void	frontierCallback (const adhoc_communication::ExpFrontier::ConstPtr &msg)
bool	initialize_auctioning (std::vector< double > *final_goal)
void	initialize_planner (std::string name, costmap_2d::Costmap2DROS costmap, costmap_2d::Costmap2DROS costmap_global)
bool	InitSelectClusterBasedOnAuction (std::vector< double > *goal)
std::string	lookupRobotName (int robot_name_int)
bool	negotiate_Frontier (double x, double y, int detected_by, int id, int cluster)
void	negotiationCallback (const adhoc_communication::ExpFrontier::ConstPtr &msg)
void	positionCallback (const adhoc_communication::MmListOfPoints::ConstPtr &msg)
void	printFrontiers ()
bool	publish_frontier_list ()
bool	publish_negotiation_list (frontier_t negotiation_frontier, int cluster)
bool	publish_visited_frontier_list ()
bool	removeStoredFrontier (int id, std::string detected_by_robot_str)
bool	removeUnreachableFrontier (int id, std::string detected_by_robot_str)
bool	removeVisitedFrontier (int id, std::string detected_by_robot_str)
bool	respondToAuction (std::vector< requested_cluster_t > requested_cluster_ids, int auction_id_number)
bool	selectClusterBasedOnAuction (std::vector< double > goal, std::vector< int > cluster_in_use_already_count, std::vector< std::string > *robot_str_name_to_return)
bool	sendToMulticast (std::string multi_cast_group, adhoc_communication::ExpFrontier frontier_to_send, std::string topic)
bool	sendToMulticastAuction (std::string multi_cast_group, adhoc_communication::ExpAuction auction_to_send, std::string topic)
void	setRobotConfig (int name, double robot_home_position_x, double robot_home_position_y, std::string frame)
void	simulate ()
bool	smartGoalBackoff (double x, double y, costmap_2d::Costmap2DROS global_costmap, std::vector< double > new_goal)
void	sort (int strategy)
bool	storeFrontier (double x, double y, int detected_by_robot, std::string detected_by_robot_str, int id)
bool	storeUnreachableFrontier (double x, double y, int detected_by_robot, std::string detected_by_robot_str, int id)
bool	storeVisitedFrontier (double x, double y, int detected_by_robot, std::string detected_by_robot_str, int id)
bool	subscribe_frontier_list ()
bool	subscribe_negotiation_list ()
bool	subscribe_visited_frontier_list ()
bool	transformToOwnCoordinates_frontiers ()
bool	transformToOwnCoordinates_visited_frontiers ()
void	visited_frontierCallback (const adhoc_communication::ExpFrontier::ConstPtr &msg)
void	visualize_Cluster_Cells ()
void	visualize_Clusters ()
void	visualize_Frontiers ()
void	visualize_visited_Frontiers ()
void	visualizeClustersConsole ()
Public Attributes
std::vector< int >	allFrontiers
std::vector< int >	already_used_ids
std::vector< auction_element_t >	auction
bool	auction_finished
int	auction_id_number
bool	auction_is_running
boost::mutex	auction_mutex
int	auction_pid
bool	auction_start
boost::mutex	callback_mutex
ros::ServiceClient	client
struct explorationPlanner::ExplorationPlanner::cluster_t	cluster
int	cluster_cells_seq_number
int	cluster_id
boost::mutex	cluster_mutex
std::vector< cluster_t >	clusters
double	exploration_travel_path_global
bool	first_negotiation_run
bool	first_run
int	free
double	free_space
struct explorationPlanner::ExplorationPlanner::frontier_t	frontier
int	frontier_id_count
int	frontier_point_message
int	frontier_seq_number
std::vector< frontier_t >	frontiers
int	goal_buffer_counter
int	goal_buffer_length
std::vector< double >	goal_buffer_x
std::vector< double >	goal_buffer_y
int	goal_point_simulated_message
std::vector< int >	id_previously_detected
int	inflated
bool	initialized_planner
std::vector< double >	last_goal_position_x
std::vector< double >	last_goal_position_y
int	lethal
tf::TransformListener	listener
std::string	move_base_frame
std::vector< frontier_t >	my_negotiation_list
navfn::NavfnROS	nav
boost::mutex	negotiation_callback_mutex
std::vector< frontier_t >	negotiation_list
boost::mutex	negotiation_mutex
std::vector< std::string >	new_robots
int	next_auction_position_x
int	next_auction_position_y
ros::NodeHandle	nh
ros::NodeHandle	nh_auction
ros::NodeHandle	nh_auction_first
ros::NodeHandle	nh_auction_status
ros::NodeHandle	nh_cluster
ros::NodeHandle	nh_cluster_grid
ros::NodeHandle	nh_control
ros::NodeHandle	nh_frontier
ros::NodeHandle	nh_frontiers_points
ros::NodeHandle	nh_negotiation
ros::NodeHandle	nh_negotiation_first
ros::NodeHandle	nh_Point
ros::NodeHandle	nh_position
ros::NodeHandle	nh_robot
ros::NodeHandle *	nh_service
ros::NodeHandle	nh_transform
ros::NodeHandle	nh_visited_frontier
ros::NodeHandle	nh_visited_Point
int	number_of_auction_bids_received
int	number_of_auction_runs
int	number_of_completed_auctions
int	number_of_robots
int	number_of_uncompleted_auctions
double	other_robots_position_x
double	other_robots_position_y
adhoc_communication::MmListOfPoints	other_robots_positions
boost::mutex	position_mutex
ros::Publisher	pub_auctioning
ros::Publisher	pub_auctioning_first
ros::Publisher	pub_auctioning_status
ros::Publisher	pub_cluster_grid_0
ros::Publisher	pub_cluster_grid_1
ros::Publisher	pub_cluster_grid_10
ros::Publisher	pub_cluster_grid_11
ros::Publisher	pub_cluster_grid_12
ros::Publisher	pub_cluster_grid_13
ros::Publisher	pub_cluster_grid_14
ros::Publisher	pub_cluster_grid_15
ros::Publisher	pub_cluster_grid_16
ros::Publisher	pub_cluster_grid_17
ros::Publisher	pub_cluster_grid_18
ros::Publisher	pub_cluster_grid_19
ros::Publisher	pub_cluster_grid_2
ros::Publisher	pub_cluster_grid_3
ros::Publisher	pub_cluster_grid_4
ros::Publisher	pub_cluster_grid_5
ros::Publisher	pub_cluster_grid_6
ros::Publisher	pub_cluster_grid_7
ros::Publisher	pub_cluster_grid_8
ros::Publisher	pub_cluster_grid_9
ros::Publisher	pub_clusters
ros::Publisher	pub_frontiers
ros::Publisher	pub_frontiers_points
ros::Publisher	pub_negotion
ros::Publisher	pub_negotion_first
ros::Publisher	pub_Point
ros::Publisher	pub_visited_frontiers
ros::Publisher	pub_visited_frontiers_points
boost::mutex	publish_subscribe_mutex
int	random_number
int	random_value
double	robot_home_x
double	robot_home_y
int	robot_name
double	robot_pose_x
double	robot_pose_y
bool	robot_prefix_empty_param
std::string	robot_str
tf::Stamped< tf::Pose >	robotPose
std::vector< responded_t >	robots_already_responded
std::string	robots_in_simulation
std::vector< frontier_t >	seen_frontier_list
map_merger::TransformPoint	service_message
bool	simulation
ros::MultiThreadedSpinner	spinner
ros::ServiceClient	ssendAuction
ros::ServiceClient	ssendFrontier
int	start_point_simulated_message
bool	start_thr_auction
boost::mutex	store_frontier_mutex
boost::mutex	store_negotiation_mutex
boost::mutex	store_visited_mutex
ros::Subscriber	sub_auctioning
ros::Subscriber	sub_auctioning_first
ros::Subscriber	sub_auctioning_status
ros::Subscriber	sub_control
ros::Subscriber	sub_frontiers
ros::Subscriber	sub_negotioation
ros::Subscriber	sub_negotioation_first
ros::Subscriber	sub_position
ros::Subscriber	sub_robot
ros::Subscriber	sub_visited_frontiers
boost::thread	thr_auction_pid
boost::thread	thr_auction_status
int	threshold_free
int	threshold_inflated
int	threshold_lethal
std::string	trajectory_strategy
tf::StampedTransform	transform
std::vector< transform_point_t >	transformedPointsFromOtherRobot_frontiers
std::vector< transform_point_t >	transformedPointsFromOtherRobot_visited_frontiers
int	unknown
struct explorationPlanner::ExplorationPlanner::frontier_t	unreachable_frontier
int	unreachable_frontier_id_count
std::vector< frontier_t >	unreachable_frontiers
std::vector < adhoc_communication::ExpCluster >	unrecognized_occupied_clusters
int	visited_frontier_id_count
std::vector< frontier_t >	visited_frontiers
double	w_value
double	x_distance
double	x_value
double	y_distance
double	y_value
Private Types
enum	LastMode { FRONTIER_EXPLORE, INNER_EXPLORE }
Private Member Functions
int	backoff (int point)
void	clearFrontiers ()
bool	countCostMapBlocks (int point)
void	deleteMapData ()
int	down (int point)
int	downleft (int point)
int	downright (int point)
void	getAdjacentPoints (int point, int points[])
std::vector< int >	getMapNeighbours (unsigned int point_x, unsigned int point_y, int distance)
double	getYawToUnknown (int point)
void	home_position_ (const geometry_msgs::PointStamped::ConstPtr &msg)
bool	isFree (int point)
int	isFrontier (int point)
bool	isFrontierReached (int point)
bool	isSameFrontier (int frontier_point1, int frontier_point2)
bool	isValid (int point)
int	left (int point)
void	resetMaps ()
int	right (int point)
void	setupMapData ()
int	up (int point)
int	upleft (int point)
int	upright (int point)
Private Attributes
bool	auction_running
costmap_2d::Costmap2D	costmap_
costmap_2d::Costmap2D	costmap_global_
costmap_2d::Costmap2DROS *	costmap_global_ros_
costmap_2d::Costmap2DROS *	costmap_ros_
unsigned int *	exploration_trans_array_
int *	frontier_map_array_
int	home_position_x_
int	home_position_y_
bool	initialized_
bool *	is_goal_array_
enum explorationPlanner::ExplorationPlanner::LastMode	last_mode_
unsigned int	map_height_
unsigned int	map_width_
std::string	name
unsigned int	num_map_cells_
unsigned int *	obstacle_trans_array_
const unsigned char *	occupancy_grid_array_
double	p_alpha_
double	p_dist_for_goal_reached_
int	p_goal_angle_penalty_
int	p_min_frontier_size_
int	p_min_obstacle_dist_
bool	p_plan_in_unknown_
double	p_same_frontier_dist_
bool	p_security_constant_
bool	p_use_inflated_obs_
int	previous_goal_
ros::Publisher	visualization_pub_

Detailed Description

Definition at line 23 of file ExplorationPlanner.h.

Member Enumeration Documentation

enum explorationPlanner::ExplorationPlanner::LastMode [private]

Enumerator:

FRONTIER_EXPLORE
INNER_EXPLORE

Definition at line 285 of file ExplorationPlanner.h.

Constructor & Destructor Documentation

ExplorationPlanner::ExplorationPlanner	(	int	robot_id,
		bool	robot_prefix_empty,
		std::string	robot_name_parameter
	)

Definition at line 51 of file ExplorationPlanner.cpp.

Member Function Documentation

void ExplorationPlanner::auctionCallback ( const adhoc_communication::ExpAuction::ConstPtr & msg )

Definition at line 1883 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::auctioning	(	std::vector< double > *	final_goal,
		std::vector< int > *	clusters_available_in_pool,
		std::vector< std::string > *	robot_str_name
	)

Definition at line 3049 of file ExplorationPlanner.cpp.

int ExplorationPlanner::backoff ( int point ) [private]

Definition at line 5485 of file ExplorationPlanner.cpp.

int ExplorationPlanner::calculate_travel_path	(	double	x,
		double	y
	)

Definition at line 918 of file ExplorationPlanner.cpp.

int ExplorationPlanner::calculateAuctionBID	(	int	cluster_number,
		std::string	strategy
	)

Definition at line 1777 of file ExplorationPlanner.cpp.

void ExplorationPlanner::Callbacks ( )

Definition at line 197 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::check_efficiency_of_goal	(	double	x,
		double	y
	)

Definition at line 2484 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::check_trajectory_plan ( )

Definition at line 851 of file ExplorationPlanner.cpp.

int ExplorationPlanner::check_trajectory_plan	(	double	x,
		double	y
	)

Definition at line 981 of file ExplorationPlanner.cpp.

int ExplorationPlanner::checkClustersID ( adhoc_communication::ExpCluster cluster_to_check )

Definition at line 2202 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clear_Visualized_Cluster_Cells ( std::vector< int > ids )

Definition at line 4800 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clearFrontiers ( ) [private]

Definition at line 5725 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clearSeenFrontiers ( costmap_2d::Costmap2DROS * global_costmap )

Definition at line 2737 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clearUnreachableFrontiers ( )

Definition at line 2687 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clearVisitedAndSeenFrontiersFromClusters ( )

Definition at line 2529 of file ExplorationPlanner.cpp.

void ExplorationPlanner::clearVisitedFrontiers ( )

Definition at line 2638 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::clusterFrontiers ( )

Definition at line 286 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::clusterIdToElementIds	(	int	cluster_id,
		std::vector< transform_point_t > *	occupied_ids
	)

Definition at line 3322 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::countCostMapBlocks ( int point ) [private]

Definition at line 5681 of file ExplorationPlanner.cpp.

void ExplorationPlanner::deleteMapData ( ) [private]

Definition at line 5321 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::determine_goal	(	int	strategy,
		std::vector< double > *	final_goal,
		int	count,
		int	actual_cluster_id,
		std::vector< std::string > *	robot_str_name
	)

Definition at line 4133 of file ExplorationPlanner.cpp.

int ExplorationPlanner::down ( int point ) [inline, private]

Definition at line 5771 of file ExplorationPlanner.cpp.

int ExplorationPlanner::downleft ( int point ) [inline, private]

Definition at line 5778 of file ExplorationPlanner.cpp.

int ExplorationPlanner::downright ( int point ) [inline, private]

Definition at line 5763 of file ExplorationPlanner.cpp.

int ExplorationPlanner::estimate_trajectory_plan	(	double	start_x,
		double	start_y,
		double	target_x,
		double	target_y
	)

Definition at line 1046 of file ExplorationPlanner.cpp.

void ExplorationPlanner::findFrontiers ( )

Definition at line 2917 of file ExplorationPlanner.cpp.

void ExplorationPlanner::frontierCallback ( const adhoc_communication::ExpFrontier::ConstPtr & msg )

Definition at line 2318 of file ExplorationPlanner.cpp.

void ExplorationPlanner::getAdjacentPoints	(	int	point,
		int	points[]
	)		`[inline, private]`

Definition at line 5571 of file ExplorationPlanner.cpp.

std::vector< int > ExplorationPlanner::getMapNeighbours	(	unsigned int	point_x,
		unsigned int	point_y,
		int	distance
	)		`[private]`

Definition at line 2891 of file ExplorationPlanner.cpp.

double ExplorationPlanner::getYawToUnknown ( int point ) [private]

Definition at line 5368 of file ExplorationPlanner.cpp.

void ExplorationPlanner::home_position_ ( const geometry_msgs::PointStamped::ConstPtr & msg ) [private]

Definition at line 1112 of file ExplorationPlanner.cpp.

bool explorationPlanner::ExplorationPlanner::initialize_auctioning ( std::vector< double > * final_goal )

void ExplorationPlanner::initialize_planner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap,
		costmap_2d::Costmap2DROS *	costmap_global
	)

Definition at line 256 of file ExplorationPlanner.cpp.

bool explorationPlanner::ExplorationPlanner::InitSelectClusterBasedOnAuction ( std::vector< double > * goal )

bool ExplorationPlanner::isFree ( int point ) [private]

Definition at line 5711 of file ExplorationPlanner.cpp.

int ExplorationPlanner::isFrontier ( int point ) [private]

Definition at line 5398 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::isFrontierReached ( int point ) [private]

Definition at line 5544 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::isSameFrontier	(	int	frontier_point1,
		int	frontier_point2
	)		`[private]`

Definition at line 5346 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::isValid ( int point ) [inline, private]

Definition at line 5721 of file ExplorationPlanner.cpp.

int ExplorationPlanner::left ( int point ) [inline, private]

Definition at line 5729 of file ExplorationPlanner.cpp.

std::string explorationPlanner::ExplorationPlanner::lookupRobotName ( int robot_name_int )

bool ExplorationPlanner::negotiate_Frontier	(	double	x,
		double	y,
		int	detected_by,
		int	id,
		int	cluster
	)

Definition at line 4051 of file ExplorationPlanner.cpp.

void ExplorationPlanner::negotiationCallback ( const adhoc_communication::ExpFrontier::ConstPtr & msg )

Definition at line 1571 of file ExplorationPlanner.cpp.

void ExplorationPlanner::positionCallback ( const adhoc_communication::MmListOfPoints::ConstPtr & msg )

Definition at line 1868 of file ExplorationPlanner.cpp.

void ExplorationPlanner::printFrontiers ( )

Definition at line 1118 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::publish_frontier_list ( )

Definition at line 2419 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::publish_negotiation_list	(	frontier_t	negotiation_frontier,
		int	cluster
	)

Definition at line 1414 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::publish_visited_frontier_list ( )

Definition at line 2447 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::removeStoredFrontier	(	int	id,
		std::string	detected_by_robot_str
	)

Definition at line 1176 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::removeUnreachableFrontier	(	int	id,
		std::string	detected_by_robot_str
	)

Definition at line 1380 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::removeVisitedFrontier	(	int	id,
		std::string	detected_by_robot_str
	)

Definition at line 1280 of file ExplorationPlanner.cpp.

void ExplorationPlanner::resetMaps ( ) [private]

Definition at line 5340 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::respondToAuction	(	std::vector< requested_cluster_t >	requested_cluster_ids,
		int	auction_id_number
	)

Definition at line 1685 of file ExplorationPlanner.cpp.

int ExplorationPlanner::right ( int point ) [inline, private]

Definition at line 5756 of file ExplorationPlanner.cpp.

bool ExplorationPlanner::selectClusterBasedOnAuction	(	std::vector< double > *	goal,
		std::vector< int > *	cluster_in_use_already_count,
		std::vector< std::string > *	robot_str_name_to_return
	)