frontier_exploration Namespace Reference

Classes
struct	Frontier
	Represents a frontier. More...
class	FrontierSearch
	Thread-safe implementation of a frontier-search task for an input costmap. More...

Functions
bool	nearestCell (unsigned int &result, unsigned int start, unsigned char val, const costmap_2d::Costmap2D &costmap)
	Find nearest cell of a specified value. More...
std::vector< unsigned int >	nhood4 (unsigned int idx, const costmap_2d::Costmap2D &costmap)
	Determine 4-connected neighbourhood of an input cell, checking for map edges. More...
std::vector< unsigned int >	nhood8 (unsigned int idx, const costmap_2d::Costmap2D &costmap)
	Determine 8-connected neighbourhood of an input cell, checking for map edges. More...

Function Documentation

bool frontier_exploration::nearestCell	(	unsigned int &	result,
		unsigned int	start,
		unsigned char	val,
		const costmap_2d::Costmap2D &	costmap
	)

Find nearest cell of a specified value.

Parameters

result	Index of located cell
start	Index initial cell to search from
val	Specified value to search for
costmap	Reference to map data

Returns

True if a cell with the requested value was found

Definition at line 91 of file costmap_tools.h.

std::vector<unsigned int> frontier_exploration::nhood4	(	unsigned int	idx,
		const costmap_2d::Costmap2D &	costmap
	)

Determine 4-connected neighbourhood of an input cell, checking for map edges.

Parameters

idx	input cell index
costmap	Reference to map data

Returns

neighbour cell indexes

Definition at line 18 of file costmap_tools.h.

std::vector<unsigned int> frontier_exploration::nhood8	(	unsigned int	idx,
		const costmap_2d::Costmap2D &	costmap
	)

Determine 8-connected neighbourhood of an input cell, checking for map edges.

Parameters

idx	input cell index
costmap	Reference to map data

Returns

neighbour cell indexes

Definition at line 54 of file costmap_tools.h.