costmap_2d layer plugin that holds the state for a bounded frontier exploration task. Manages the boundary polygon, superimposes the polygon on the overall exploration costmap, and processes costmap to find next frontier to explore. More...

#include <bounded_explore_layer.h>

Inheritance diagram for frontier_exploration::BoundedExploreLayer:

[legend]

Public Member Functions
	BoundedExploreLayer ()

bool	isDiscretized ()

virtual void	matchSize ()
	Match dimensions and origin of parent costmap. More...

virtual void	onInitialize ()
	Loads default values and initialize exploration costmap. More...

virtual void	reset ()
	Reset exploration progress. More...

virtual void	updateBounds (double origin_x, double origin_y, double origin_yaw, double polygon_min_x, double polygon_min_y, double polygon_max_x, double polygon_max_y)
	Calculate bounds of costmap window to update. More...

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update requested costmap window. More...

	~BoundedExploreLayer ()

Public Member Functions inherited from costmap_2d::Layer
virtual void	activate ()

virtual void	deactivate ()

const std::vector< geometry_msgs::Point > &	getFootprint () const

std::string	getName () const

void	initialize (LayeredCostmap parent, std::string name, tf::TransformListener tf)

bool	isCurrent () const

	Layer ()

virtual void	onFootprintChanged ()

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

	Costmap2D (const Costmap2D &map)

	Costmap2D ()

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Protected Member Functions
bool	getNextFrontier (geometry_msgs::PoseStamped start_pose, geometry_msgs::PoseStamped &next_frontier)
	Search the costmap for next reachable frontier to explore. More...

bool	getNextFrontierService (frontier_exploration::GetNextFrontier::Request &req, frontier_exploration::GetNextFrontier::Response &res)
	ROS Service wrapper for getNextFrontier. More...

bool	updateBoundaryPolygon (geometry_msgs::PolygonStamped polygon_stamped)
	Load polygon boundary to draw on map with each update. More...

bool	updateBoundaryPolygonService (frontier_exploration::UpdateBoundaryPolygon::Request &req, frontier_exploration::UpdateBoundaryPolygon::Response &res)
	ROS Service wrapper for updateBoundaryPolygon. More...

Protected Member Functions inherited from costmap_2d::Costmap2D
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

virtual void	resetMaps ()

Private Member Functions
void	mapUpdateKeepObstacles (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update the map with exploration boundary data. More...

void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)

Private Attributes
bool	configured_

dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > *	dsrv_

ros::Publisher	frontier_cloud_pub

std::string	frontier_travel_point_

ros::ServiceServer	frontierService_

bool	marked_

geometry_msgs::Polygon	polygon_

ros::ServiceServer	polygonService_

bool	resize_to_boundary_

tf::TransformListener	tf_listener_

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf::TransformListener *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

costmap_2d layer plugin that holds the state for a bounded frontier exploration task. Manages the boundary polygon, superimposes the polygon on the overall exploration costmap, and processes costmap to find next frontier to explore.

Definition at line 22 of file bounded_explore_layer.h.

Constructor & Destructor Documentation

frontier_exploration::BoundedExploreLayer::BoundedExploreLayer ( )

Definition at line 28 of file bounded_explore_layer.cpp.

frontier_exploration::BoundedExploreLayer::~BoundedExploreLayer ( )

Definition at line 30 of file bounded_explore_layer.cpp.

Member Function Documentation

bool frontier_exploration::BoundedExploreLayer::getNextFrontier	(	geometry_msgs::PoseStamped	start_pose,
		geometry_msgs::PoseStamped &	next_frontier
	)

protected

Search the costmap for next reachable frontier to explore.

Parameters

start_pose	Pose from which to start search
next_frontier	Pose of found frontier

Returns: True if a reachable frontier was found, false otherwise

Definition at line 83 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::getNextFrontierService	(	frontier_exploration::GetNextFrontier::Request &	req,
		frontier_exploration::GetNextFrontier::Response &	res
	)

protected

ROS Service wrapper for getNextFrontier.

Parameters

req	Service request
res	Service response

Returns: True on service success, false otherwise

Definition at line 79 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::isDiscretized ( )

inline

Definition at line 43 of file bounded_explore_layer.h.

void frontier_exploration::BoundedExploreLayer::mapUpdateKeepObstacles	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

private

Update the map with exploration boundary data.

Parameters

master_grid Reference to master costmap

Definition at line 279 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::matchSize ( )

virtual

Match dimensions and origin of parent costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 68 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::onInitialize ( )

virtual

Loads default values and initialize exploration costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 37 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 75 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::reset ( )

virtual

Reset exploration progress.

Reimplemented from costmap_2d::Layer.

Definition at line 171 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::updateBoundaryPolygon ( geometry_msgs::PolygonStamped polygon_stamped )

protected

Load polygon boundary to draw on map with each update.

Parameters

polygon_stamped polygon boundary

Returns: True if polygon successfully loaded, false otherwise

Definition at line 180 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::updateBoundaryPolygonService	(	frontier_exploration::UpdateBoundaryPolygon::Request &	req,
		frontier_exploration::UpdateBoundaryPolygon::Response &	res
	)

protected

ROS Service wrapper for updateBoundaryPolygon.

Parameters

req	Service request
res	Service response

Returns: True on service success, false otherwise

Definition at line 165 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::updateBounds	(	double	origin_x,
		double	origin_y,
		double	origin_yaw,
		double *	polygon_min_x,
		double *	polygon_min_y,
		double *	polygon_max_x,
		double *	polygon_max_y
	)

virtual

Calculate bounds of costmap window to update.

Reimplemented from costmap_2d::Layer.

Definition at line 243 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Update requested costmap window.

Reimplemented from costmap_2d::Layer.

Definition at line 257 of file bounded_explore_layer.cpp.

Member Data Documentation

bool frontier_exploration::BoundedExploreLayer::configured_

private

Definition at line 109 of file bounded_explore_layer.h.

dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>* frontier_exploration::BoundedExploreLayer::dsrv_

private

Definition at line 101 of file bounded_explore_layer.h.

ros::Publisher frontier_exploration::BoundedExploreLayer::frontier_cloud_pub

private

Definition at line 107 of file bounded_explore_layer.h.

std::string frontier_exploration::BoundedExploreLayer::frontier_travel_point_

private

Definition at line 111 of file bounded_explore_layer.h.

ros::ServiceServer frontier_exploration::BoundedExploreLayer::frontierService_

private

Definition at line 103 of file bounded_explore_layer.h.

bool frontier_exploration::BoundedExploreLayer::marked_

private

Definition at line 109 of file bounded_explore_layer.h.

geometry_msgs::Polygon frontier_exploration::BoundedExploreLayer::polygon_

private

Definition at line 104 of file bounded_explore_layer.h.

ros::ServiceServer frontier_exploration::BoundedExploreLayer::polygonService_

private

Definition at line 102 of file bounded_explore_layer.h.

bool frontier_exploration::BoundedExploreLayer::resize_to_boundary_

private

Definition at line 112 of file bounded_explore_layer.h.

tf::TransformListener frontier_exploration::BoundedExploreLayer::tf_listener_

private

Definition at line 105 of file bounded_explore_layer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation