coverage_path.cpp File Reference

#include "coverage_path.h"

Include dependency graph for coverage_path.cpp:

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Functions
void	analyze_area (vector< geometry_msgs::Point > coords, geometry_msgs::Point &origin, double &rotation, double &width, double &height)
	Determine properties of an area. More...
void	area_callback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Callback function to receive the grid map. More...
void	downsample (nav_msgs::OccupancyGrid &map)
	Decrease the resolution of a occupancy grid map. More...
bool	generate_path (geometry_msgs::Point start)
	Generate an optimal coverage path for a given area. More...
bool	get_path (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
	Callback function to get the coverage path. More...
bool	get_waypoint (cpswarm_msgs::GetWaypoint::Request &req, cpswarm_msgs::GetWaypoint::Response &res)
	Callback function to get the current waypoint of the path. More...
int	main (int argc, char **argv)
	A ROS node that computes the optimal paths for area coverage with a swarm of CPSs. More...
void	rotate (nav_msgs::OccupancyGrid &map, double angle)
	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...

Function Documentation

void analyze_area	(	vector< geometry_msgs::Point >	coords,
		geometry_msgs::Point &	origin,
		double &	rotation,
		double &	width,
		double &	height
	)

Determine properties of an area.

Parameters

coords	The coordinates defining the area polygon.
origin	Returns the bottom left coordinate of the area.
rotation	Returns the angle which the area has to be rotated so the lower boundary is horizontal.
width	Returns the width of the area after rotation.
height	Returns the height of the area after rotation.

Definition at line 11 of file coverage_path.cpp.

void area_callback

(

const nav_msgs::OccupancyGrid::ConstPtr &

msg

)

Callback function to receive the grid map.

Parameters

msg	Grid map to be covered by this CPSs.

Definition at line 338 of file coverage_path.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 148 of file coverage_path.cpp.

bool generate_path

(

geometry_msgs::Point

start

)

Generate an optimal coverage path for a given area.

Parameters

start

The starting position of the path.

Returns

Whether the path has been generated successfully.

Definition at line 224 of file coverage_path.cpp.

bool get_path	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)

Callback function to get the coverage path.

Parameters

req	Path planning request that is ignored.
res	The coverage path.

Returns

Whether the request succeeded.

Definition at line 290 of file coverage_path.cpp.

bool get_waypoint	(	cpswarm_msgs::GetWaypoint::Request &	req,
		cpswarm_msgs::GetWaypoint::Response &	res
	)

Callback function to get the current waypoint of the path.

Parameters

req	Empty get waypoint request.
res	The current waypoint.

Returns

Whether the request succeeded.

Definition at line 310 of file coverage_path.cpp.

int main	(	int	argc,
		char **	argv
	)

A ROS node that computes the optimal paths for area coverage with a swarm of CPSs.

Parameters

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

Returns

Success.

Definition at line 397 of file coverage_path.cpp.

void rotate	(	nav_msgs::OccupancyGrid &	map,
		double	angle
	)

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

Parameters

map	A reference to the occupancy grid map to rotate.
angle	The angle to rotate the map by.

Definition at line 71 of file coverage_path.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 349 of file coverage_path.cpp.