frontier_search.h
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00001 #ifndef FRONTIER_SEARCH_H_
00002 #define FRONTIER_SEARCH_H_
00003 
00004 #include <frontier_exploration/Frontier.h>
00005 #include <costmap_2d/costmap_2d.h>
00006 
00007 namespace frontier_exploration{
00008 
00012 class FrontierSearch{
00013 
00014 public:
00015 
00020     FrontierSearch(costmap_2d::Costmap2D& costmap);
00021 
00027     std::list<Frontier> searchFrom(geometry_msgs::Point position);
00028 
00029 protected:
00030 
00038     Frontier buildNewFrontier(unsigned int initial_cell, unsigned int reference, std::vector<bool>& frontier_flag);
00039 
00046     bool isNewFrontierCell(unsigned int idx, const std::vector<bool>& frontier_flag);
00047 
00048 private:
00049 
00050     costmap_2d::Costmap2D& costmap_;
00051     unsigned char* map_;
00052     unsigned int size_x_ , size_y_;
00053 
00054 };
00055 
00056 }
00057 #endif


frontier_exploration
Author(s): Paul Bovbel
autogenerated on Thu Aug 10 2017 03:02:58