#include <voronoi_graph_node.h>

Inheritance diagram for tuw_graph::VoronoiGeneratorNode:

Public Member Functions
void	publishMap ()

void	publishSegments ()

	VoronoiGeneratorNode (ros::NodeHandle &n)

Public Member Functions inherited from voronoi_map::VoronoiPathGenerator
void	computeDistanceField (const cv::Mat &_map, cv::Mat &_distField)
	computes the distance field of a map More...

void	computeVoronoiMap (const cv::Mat &_distField, cv::Mat &_voronoiMap)
	computes the voronoi _map More...

void	prepareMap (const cv::Mat &_map, cv::Mat &_smoothedMap, int _blurSize)
	prepares the map by smoothing it More...

	VoronoiPathGenerator ()

Public Member Functions inherited from tuw_graph::VoronoiGraphGenerator
std::vector< Segment >	calcSegments (cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath, float *potential, float _path_length, float _optimizeCrossingPixels, float _optimizeEndSegmentsPixel)
	calculates the search graph More...

	VoronoiGraphGenerator ()

Public Member Functions inherited from tuw_graph::Serializer
size_t	getHash (const std::vector< signed char > &_map, Eigen::Vector2d _origin, float _resolution)
	generate a hash from a _map More...

bool	load (const std::string &_mapPath, std::vector< Segment > &_segs, Eigen::Vector2d &_origin, float &_resolution)
	loads a graph from memory which is saved in plain text More...

void	save (const std::string &_mapPath, const std::vector< Segment > &_segs, const Eigen::Vector2d &_origin, const float &_resolution)
	saves the graph to a specific path in xml format More...

	Serializer ()

Public Attributes
ros::NodeHandle	n_

ros::NodeHandle	n_param_

std::unique_ptr< ros::Rate >	rate_

Private Member Functions
void	createGraph (const nav_msgs::OccupancyGrid::ConstPtr &_map, size_t _map_hash)

void	globalMapCallback (const nav_msgs::OccupancyGrid::ConstPtr &_map)

bool	loadCustomGraph (std::string _path)

bool	loadGraph (size_t _hash)

Private Attributes
float	crossingOptimization_

size_t	current_map_hash_

std::string	customGraphPath_

cv::Mat	distField_

float	endSegmentOptimization_

std::string	frameGlobalMap_

std::string	frameVoronoiMap_

std::string	graphCachePath_

cv::Mat	map_

Eigen::Vector2d	origin_

float	path_length_

std::unique_ptr< float[]>	potential

ros::Publisher	pubSegments_

ros::Publisher	pubVoronoiMap_

float	resolution_

std::vector< Segment >	segments_

int	smoothing_

ros::Subscriber	subMap_

std::string	topicGlobalMap_

std::string	topicSegments_

std::string	topicVoronoiMap_

cv::Mat	voronoiMap_

Detailed Description

Definition at line 19 of file voronoi_graph_node.h.

Constructor & Destructor Documentation

tuw_graph::VoronoiGeneratorNode::VoronoiGeneratorNode ( ros::NodeHandle & n )

Definition at line 44 of file voronoi_graph_node.cpp.

Member Function Documentation

void tuw_graph::VoronoiGeneratorNode::createGraph	(	const nav_msgs::OccupancyGrid::ConstPtr &	_map,
		size_t	_map_hash
	)

private

Definition at line 121 of file voronoi_graph_node.cpp.

void tuw_graph::VoronoiGeneratorNode::globalMapCallback ( const nav_msgs::OccupancyGrid::ConstPtr & _map )

private

Definition at line 82 of file voronoi_graph_node.cpp.

bool tuw_graph::VoronoiGeneratorNode::loadCustomGraph ( std::string _path )

private

Definition at line 157 of file voronoi_graph_node.cpp.

bool tuw_graph::VoronoiGeneratorNode::loadGraph ( size_t _hash )

private

Definition at line 150 of file voronoi_graph_node.cpp.

void tuw_graph::VoronoiGeneratorNode::publishMap ( )

Definition at line 222 of file voronoi_graph_node.cpp.

void tuw_graph::VoronoiGeneratorNode::publishSegments ( )

Definition at line 169 of file voronoi_graph_node.cpp.

Member Data Documentation

float tuw_graph::VoronoiGeneratorNode::crossingOptimization_

private

Definition at line 63 of file voronoi_graph_node.h.

size_t tuw_graph::VoronoiGeneratorNode::current_map_hash_

private

Definition at line 53 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::customGraphPath_

private

Definition at line 47 of file voronoi_graph_node.h.

cv::Mat tuw_graph::VoronoiGeneratorNode::distField_

private

Definition at line 57 of file voronoi_graph_node.h.

float tuw_graph::VoronoiGeneratorNode::endSegmentOptimization_

private

Definition at line 64 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::frameGlobalMap_

private

Definition at line 49 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::frameVoronoiMap_

private

Definition at line 50 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::graphCachePath_

private

Definition at line 46 of file voronoi_graph_node.h.

cv::Mat tuw_graph::VoronoiGeneratorNode::map_

private

Definition at line 56 of file voronoi_graph_node.h.

ros::NodeHandle tuw_graph::VoronoiGeneratorNode::n_

Definition at line 25 of file voronoi_graph_node.h.

ros::NodeHandle tuw_graph::VoronoiGeneratorNode::n_param_

Definition at line 26 of file voronoi_graph_node.h.

Eigen::Vector2d tuw_graph::VoronoiGeneratorNode::origin_

private

Definition at line 54 of file voronoi_graph_node.h.

float tuw_graph::VoronoiGeneratorNode::path_length_

private

Definition at line 59 of file voronoi_graph_node.h.

std::unique_ptr<float[]> tuw_graph::VoronoiGeneratorNode::potential

private

Definition at line 60 of file voronoi_graph_node.h.

ros::Publisher tuw_graph::VoronoiGeneratorNode::pubSegments_

private

Definition at line 39 of file voronoi_graph_node.h.

ros::Publisher tuw_graph::VoronoiGeneratorNode::pubVoronoiMap_

private

Definition at line 38 of file voronoi_graph_node.h.

std::unique_ptr<ros::Rate> tuw_graph::VoronoiGeneratorNode::rate_

Definition at line 27 of file voronoi_graph_node.h.

float tuw_graph::VoronoiGeneratorNode::resolution_

private

Definition at line 55 of file voronoi_graph_node.h.

std::vector<Segment> tuw_graph::VoronoiGeneratorNode::segments_

private

Definition at line 61 of file voronoi_graph_node.h.

int tuw_graph::VoronoiGeneratorNode::smoothing_

private

Definition at line 62 of file voronoi_graph_node.h.

ros::Subscriber tuw_graph::VoronoiGeneratorNode::subMap_

private

Definition at line 40 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::topicGlobalMap_

private

Definition at line 43 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::topicSegments_

private

Definition at line 45 of file voronoi_graph_node.h.

std::string tuw_graph::VoronoiGeneratorNode::topicVoronoiMap_

private

Definition at line 44 of file voronoi_graph_node.h.

cv::Mat tuw_graph::VoronoiGeneratorNode::voronoiMap_

private

Definition at line 58 of file voronoi_graph_node.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation