#include "area_division.h"

Include dependency graph for area_division.cpp:

Functions
void	behavior_state_callback (const cpswarm_msgs::StateEvent::ConstPtr &msg)
	Callback function for behavior state updates. More...

void	deinit ()
	Shutdown ROS communication. More...

void	divide_area ()
	Divide the area of the grid map equally among multiple CPSs. More...

void	division_callback (const cpswarm_msgs::AreaDivisionEvent::ConstPtr &msg)
	Callback function to receive area division requests from other CPSs. More...

void	downsample (nav_msgs::OccupancyGrid &map)
	Decrease the resolution of a occupancy grid map. More...

void	init ()
	Initialize this node. More...

int	main (int argc, char **argv)
	A ROS node that divides the available area among a swarm of CPSs. More...

void	map_callback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Callback function to receive the grid map. More...

void	pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
	Callback function for position updates. More...

geometry_msgs::Point	rotate (geometry_msgs::Point point, double angle)
	Rotate a point by a given angle around the origin. More...

double	rotate (nav_msgs::OccupancyGrid &map)
	Rotate an occupancy grid map so the lower boundary is horizontal. More...

void	swarm_state_callback (const cpswarm_msgs::ArrayOfStates::ConstPtr &msg)
	Callback function to receive the states of the other CPSs. More...

void	sync ()
	Synchronize The CPSs by exchanging an event. More...

void	to_sync ()
	Switch to the synchronization state. More...

void	translate (nav_msgs::OccupancyGrid &map)
	Shift a map to be aligned with the grid, i.e., the origin should be an even number. More...

void	uuid_callback (const swarmros::String::ConstPtr &msg)
	Callback function to receive the UUID from the communication library. More...

Function Documentation

void behavior_state_callback ( const cpswarm_msgs::StateEvent::ConstPtr & msg )

Callback function for behavior state updates.

Parameters

msg	State received from the CPS.

Definition at line 28 of file area_division.cpp.

void deinit ( )

Shutdown ROS communication.

Definition at line 236 of file area_division.cpp.

void divide_area ( )

Divide the area of the grid map equally among multiple CPSs.

Definition at line 483 of file area_division.cpp.

void division_callback ( const cpswarm_msgs::AreaDivisionEvent::ConstPtr & msg )

Callback function to receive area division requests from other CPSs.

Parameters

msg	UUIDs and position of the other CPS.

Definition at line 50 of file area_division.cpp.

void downsample ( nav_msgs::OccupancyGrid & map )

Decrease the resolution of a occupancy grid map.

Parameters

map	A reference to the occupancy grid map to downsample.

Definition at line 409 of file area_division.cpp.

void init ( )

Initialize this node.

Definition at line 170 of file area_division.cpp.

int main	(	int	argc,
		char **	argv
	)

A ROS node that divides the available area among a swarm of CPSs.

Parameters

argc	Number of command line arguments.
argv	Array of command line arguments.

Returns: Success.

Definition at line 555 of file area_division.cpp.

void map_callback ( const nav_msgs::OccupancyGrid::ConstPtr & msg )

Callback function to receive the grid map.

Parameters

msg	Global grid map.

Definition at line 85 of file area_division.cpp.

void pose_callback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

Callback function for position updates.

Parameters

msg	Position received from the CPS.

Definition at line 102 of file area_division.cpp.

geometry_msgs::Point rotate	(	geometry_msgs::Point	point,
		double	angle
	)

Rotate a point by a given angle around the origin.

Parameters

point	The point to rotate.
angle	The angle by which to rotate the point.

Returns: The rotated point.

Definition at line 285 of file area_division.cpp.

double rotate ( nav_msgs::OccupancyGrid & map )

Rotate an occupancy grid map so the lower boundary is horizontal.

Parameters

map	A reference to the occupancy grid map to rotate.

Returns: The angle by which the map has been rotated.

Definition at line 303 of file area_division.cpp.

void swarm_state_callback ( const cpswarm_msgs::ArrayOfStates::ConstPtr & msg )

Callback function to receive the states of the other CPSs.

Parameters

msg	UUIDs and states of the other CPSs.

Definition at line 116 of file area_division.cpp.

void sync ( )

Synchronize The CPSs by exchanging an event.

Definition at line 260 of file area_division.cpp.

void to_sync ( )

Switch to the synchronization state.

Definition at line 6 of file area_division.cpp.

void translate ( nav_msgs::OccupancyGrid & map )

Shift a map to be aligned with the grid, i.e., the origin should be an even number.

Parameters

map	The map to shift.

Definition at line 390 of file area_division.cpp.

void uuid_callback ( const swarmros::String::ConstPtr & msg )

Callback function to receive the UUID from the communication library.

Parameters

msg	UUID of this node.

Definition at line 162 of file area_division.cpp.

Functions

Function Documentation