MinPosPlanner.h
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00001 #ifndef MINPOSPLANNER_H_
00002 #define MINPOSPLANNER_H_
00003 
00004 #include <nav2d_navigator/ExplorationPlanner.h>
00005 
00006 class MinPosPlanner : public ExplorationPlanner
00007 {
00008 public:
00009         MinPosPlanner();
00010         ~MinPosPlanner();
00011         
00012         int findExplorationTarget(GridMap* map, unsigned int start, unsigned int &goal);
00013         
00014 private:
00015         typedef std::vector<unsigned int> Frontier;
00016         typedef std::vector<Frontier> FrontierList;
00017         
00018         // Methods
00019         void findCluster(GridMap* map, unsigned int startCell);
00020         
00021         // ROS-Stuff
00022         ros::Publisher mFrontierPublisher;
00023         
00024         // Components
00025         RobotList mRobotList;
00026         FrontierList mFrontiers;
00027         double* mPlan;
00028         unsigned int mFrontierCells;
00029 
00030         // Parameters
00031         int mRobotID;
00032         bool mVisualizeFrontiers;
00033         double mMinTargetAreaSize;
00034         unsigned int mOffset[8];
00035 };
00036 
00037 #endif // MINPOSPLANNER_H_


nav2d_exploration
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 04:05:41