RadomGoalGeneratorNode Class Reference

#include <multi_robot_goal_generator.h>

Public Member Functions
void	callback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	publishes the motion commands More...
void	publish ()
	Constructor. More...
	RadomGoalGeneratorNode (ros::NodeHandle &n)

Private Member Functions
void	updateNrOfRobots (size_t nr_of_robots)

Private Attributes
double	distance_between_robots_
	parameter [m] More...
double	distance_boundary_
	parameter count More...
double	distance_to_map_border_
	parameter [m] More...
std::string	frame_id_
	parameter More...
tuw::GridMap< int8_t >	map_
tuw::GridMap< int8_t >	map_goals_
int	max_resample_
nav_msgs::OccupancyGrid::ConstPtr	msg_map_
nav_msgs::OccupancyGrid	msg_map_goals_
ros::NodeHandle	n_
ros::NodeHandle	n_param_
int	nr_of_avaliable_robots_
	retries/max_resample steps to find a free spot for a goal [m] More...
ros::Publisher	pub_goals_
ros::Publisher	pub_map_goals_
tuw_multi_robot_msgs::RobotGoalsArray	robot_goals_array_
	parameter More...
std::string	robot_name_prefix_
	parameter [m] More...
ros::Subscriber	sub_map_

Detailed Description

class to cover the ros communication

Definition at line 12 of file multi_robot_goal_generator.h.

Constructor & Destructor Documentation

RadomGoalGeneratorNode::RadomGoalGeneratorNode

(

ros::NodeHandle &

n

)

Definition at line 9 of file multi_robot_goal_generator_node.cpp.

Member Function Documentation

void RadomGoalGeneratorNode::callback

(

const nav_msgs::OccupancyGrid::ConstPtr &

msg

)

publishes the motion commands

Definition at line 65 of file multi_robot_goal_generator_node.cpp.

void RadomGoalGeneratorNode::publish

(

)

Constructor.

Definition at line 71 of file multi_robot_goal_generator_node.cpp.

void RadomGoalGeneratorNode::updateNrOfRobots ( size_t  nr_of_robots )

private

Definition at line 32 of file multi_robot_goal_generator_node.cpp.

Member Data Documentation

double RadomGoalGeneratorNode::distance_between_robots_

private

parameter [m]

Definition at line 28 of file multi_robot_goal_generator.h.

double RadomGoalGeneratorNode::distance_boundary_

private

parameter count

Definition at line 27 of file multi_robot_goal_generator.h.

double RadomGoalGeneratorNode::distance_to_map_border_

private

parameter [m]

Definition at line 29 of file multi_robot_goal_generator.h.

std::string RadomGoalGeneratorNode::frame_id_

private

parameter

Definition at line 31 of file multi_robot_goal_generator.h.

tuw::GridMap<int8_t> RadomGoalGeneratorNode::map_

private

Definition at line 23 of file multi_robot_goal_generator.h.

tuw::GridMap<int8_t> RadomGoalGeneratorNode::map_goals_

private

Definition at line 24 of file multi_robot_goal_generator.h.

int RadomGoalGeneratorNode::max_resample_

private

Definition at line 25 of file multi_robot_goal_generator.h.

nav_msgs::OccupancyGrid::ConstPtr RadomGoalGeneratorNode::msg_map_

private

Definition at line 34 of file multi_robot_goal_generator.h.

nav_msgs::OccupancyGrid RadomGoalGeneratorNode::msg_map_goals_

private

Definition at line 33 of file multi_robot_goal_generator.h.

ros::NodeHandle RadomGoalGeneratorNode::n_

private

Definition at line 18 of file multi_robot_goal_generator.h.

ros::NodeHandle RadomGoalGeneratorNode::n_param_

private

Definition at line 19 of file multi_robot_goal_generator.h.

int RadomGoalGeneratorNode::nr_of_avaliable_robots_

private

retries/max_resample steps to find a free spot for a goal [m]

Definition at line 26 of file multi_robot_goal_generator.h.

ros::Publisher RadomGoalGeneratorNode::pub_goals_

private

Definition at line 21 of file multi_robot_goal_generator.h.

ros::Publisher RadomGoalGeneratorNode::pub_map_goals_

private

Definition at line 22 of file multi_robot_goal_generator.h.

tuw_multi_robot_msgs::RobotGoalsArray RadomGoalGeneratorNode::robot_goals_array_

private

parameter

Definition at line 32 of file multi_robot_goal_generator.h.

std::string RadomGoalGeneratorNode::robot_name_prefix_

private

parameter [m]

Definition at line 30 of file multi_robot_goal_generator.h.

ros::Subscriber RadomGoalGeneratorNode::sub_map_

private

Definition at line 20 of file multi_robot_goal_generator.h.

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

• multi_robot_goal_generator.h
• multi_robot_goal_generator_node.cpp