explore.h

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#ifndef NAV_EXPLORE_H_
#define NAV_EXPLORE_H_

#include <vector>
#include <string>
#include <memory>
#include <mutex>

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/PoseStamped.h>
#include <visualization_msgs/MarkerArray.h>

#include <explore/explore_frontier.h>
#include <explore/costmap_client.h>

/* I have been using modified version of navfn for a long time here.
Unfornutely my changes are affecting ABI of the component, so the can't be
accepted for ROS Jade or below. I expect them be accepted for ROS Karmic. Then
this should be moved back to using standard ROS navfn `<navfn/navfn_ros.h>`.
For the meanwhile, to allow seamless building, I will be using internal
version included from ROS. */

#include <explore/navfn_ros.h>

namespace explore {

class Explore {
public:
  Explore();

  void execute();

  void spin();

private:
  void makePlan();

  void publishFrontiers();

  void reachedGoal(
    const actionlib::SimpleClientGoalState& status,
    const move_base_msgs::MoveBaseResultConstPtr& result,
    const geometry_msgs::PoseStamped& frontier_goal);

  bool goalOnBlacklist(const geometry_msgs::PoseStamped& goal);

  ros::NodeHandle private_nh_;
  ros::NodeHandle relative_nh_;
  ros::Publisher marker_array_publisher_;
  tf::TransformListener tf_listener_;

  Costmap2DClient costmap_client_;
  navfn::NavfnROS planner_;
  actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
  ExploreFrontier explorer_;
  std::mutex planning_mutex_;

  tf::Stamped<tf::Pose> global_pose_;
  double planner_frequency_;
  std::vector<geometry_msgs::PoseStamped> frontier_blacklist_;
  geometry_msgs::PoseStamped prev_goal_;
  size_t prev_plan_size_;
  double time_since_progress_, progress_timeout_;
  double potential_scale_, orientation_scale_, gain_scale_;
  bool done_exploring_;
  bool visualize_;
};

}

#endif