lib/area_division.h

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#ifndef AREA_DIVISION_LIB_H
#define AREA_DIVISION_LIB_H

#include <vector>
#include <valarray>
#include <map>
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/OccupancyGrid.h>
#include "lib/connected_components.h"

using namespace std;
using namespace ros;

class area_division
{
public:
    area_division();

    void divide ();

    nav_msgs::OccupancyGrid get_grid (nav_msgs::OccupancyGrid map, string cps);

    void initialize_cps (map<string, vector<int>> cpss);

    void initialize_map (int r, int c, vector<signed char> src);

private:
    void assign (vector<valarray<double>> matrix);

    valarray<float> CalcConnectedMultiplier (valarray<float> dist1, valarray<float> dist2);

    valarray<double> FinalUpdateOnMetricMatrix (double CM, valarray<double> curentONe, valarray<float> CC);

    bool isThisAGoalState (int thres);

    double variate_weight;

    int rows;

    int cols;

    int nr;

    int ob;

    int max_iter;

    vector<signed char> gridmap;

    vector<vector<int>> cps;

    map<string, int> uuid_map;

    vector<valarray<int>> BWlist;

    valarray<int> A;

    vector<int> ArrayOfElements;

    vector<bool> regions;

    bool success;

    int discr;
};

#endif // AREA_DIVISION_LIB_H