frontier_search.h

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#ifndef FRONTIER_SEARCH_H_
#define FRONTIER_SEARCH_H_

#include <costmap_2d/costmap_2d.h>

namespace frontier_exploration
{
struct Frontier {
  std::uint32_t size;
  double min_distance;
  double cost;
  geometry_msgs::Point initial;
  geometry_msgs::Point centroid;
  geometry_msgs::Point middle;
  std::vector<geometry_msgs::Point> points;
};

class FrontierSearch
{
public:
  FrontierSearch()
  {
  }

  FrontierSearch(costmap_2d::Costmap2D* costmap, double potential_scale,
                 double gain_scale, double min_frontier_size);

  std::vector<Frontier> searchFrom(geometry_msgs::Point position);

protected:
  Frontier buildNewFrontier(unsigned int initial_cell, unsigned int reference,
                            std::vector<bool>& frontier_flag);

  bool isNewFrontierCell(unsigned int idx,
                         const std::vector<bool>& frontier_flag);

  double frontierCost(const Frontier& frontier);

private:
  costmap_2d::Costmap2D* costmap_;
  unsigned char* map_;
  unsigned int size_x_, size_y_;
  double potential_scale_, gain_scale_;
  double min_frontier_size_;
};
}
#endif