frontier_exploration Namespace Reference

Classes
class	BoundedExploreLayer
	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...
class	FrontierExplorationClient
	Client for FrontierExplorationServer that receives control points from rviz, and creates boundary polygon for frontier exploration. More...
class	FrontierExplorationServer
	Server for frontier exploration action, runs the state machine associated with a structured frontier exploration task and manages robot movement through move_base. 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...
template<typename T >
bool	pointInPolygon (const T &point, const geometry_msgs::Polygon &polygon)
	Evaluate if point is inside area defined by polygon. Undefined behaviour for points on line. More...
template<typename T , typename S >
double	pointsDistance (const T &one, const S &two)
	Calculate distance between two points. More...
template<typename T , typename S >
bool	pointsNearby (const T &one, const S &two, const double &proximity)
	Evaluate whether two points are approximately adjacent, within a specified proximity distance. More...
double	polygonPerimeter (const geometry_msgs::Polygon &polygon)
	Calculate polygon perimeter. More...
template<typename T , typename S >
double	yawOfVector (const T &origin, const S &end)
	Calculate the yaw of vector defined by origin and end points. 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 86 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 51 of file costmap_tools.h.

template<typename T >

bool frontier_exploration::pointInPolygon	(	const T &	point,
		const geometry_msgs::Polygon &	polygon
	)

Evaluate if point is inside area defined by polygon. Undefined behaviour for points on line.

Parameters

point	Point to test
polygon	Polygon to test

Returns

True if point is inside polygon, false otherwise

Definition at line 58 of file geometry_tools.h.

template<typename T , typename S >

double frontier_exploration::pointsDistance	(	const T &	one,
		const S &	two
	)

Calculate distance between two points.

Parameters

one	Point one
two	Point two

Returns

Distance between two points

Definition at line 17 of file geometry_tools.h.

template<typename T , typename S >

bool frontier_exploration::pointsNearby	(	const T &	one,
		const S &	two,
		const double &	proximity
	)

Evaluate whether two points are approximately adjacent, within a specified proximity distance.

Parameters

one	Point one
two	Point two
proximity	Proximity distance

Returns

True if approximately adjacent, false otherwise

Definition at line 47 of file geometry_tools.h.

double frontier_exploration::polygonPerimeter

(

const geometry_msgs::Polygon &

polygon

)

Calculate polygon perimeter.

Parameters

polygon

Polygon to process

Returns

Perimeter of polygon

Definition at line 26 of file geometry_tools.h.

template<typename T , typename S >

double frontier_exploration::yawOfVector	(	const T &	origin,
		const S &	end
	)

Calculate the yaw of vector defined by origin and end points.

Parameters

origin	Origin point
end	End point

Returns

Yaw angle of vector

Definition at line 76 of file geometry_tools.h.