ugv_random_walk Class Reference

An implementation of the coverage class that allows to cover a given area with the random walk algorithm. The random walk is a mathematical movement model, where an agent moves straight for a specific distance and then changes its direction randomly. More...

#include <ugv_random_walk.h>

Public Member Functions
behavior_state_t	step ()
	Move the swarm member to a new position. More...
void	stop ()
	Stop moving. More...
	ugv_random_walk ()
	Constructor that initializes the private member variables. More...
	~ugv_random_walk ()
	Destructor that deletes the private member objects. More...

Private Member Functions
bool	new_direction ()
	Compute new direction using rng. More...
bool	reflect ()
	Compute new direction as reflection from wall. More...
geometry_msgs::Pose	select_goal ()
	Compute goal position from direction. More...

Private Attributes
ServiceClient	bound_client
	Service client for determining closest mission area boundary to the current UGV position. More...
ServiceClient	clear_sector_client
	Service client for determining the sector clear of obstacles. More...
double	direction
	The direction in which the UGV is traveling. It is measured in radian, clockwise starting from north. More...
position	pos
	A helper object for position related tasks. More...
random_numbers::RandomNumberGenerator *	rng
	The random number generator used for selecting a random direction. More...
double	step_size
	The distance that the UGV travels in one step. More...

Detailed Description

An implementation of the coverage class that allows to cover a given area with the random walk algorithm. The random walk is a mathematical movement model, where an agent moves straight for a specific distance and then changes its direction randomly.

Definition at line 24 of file ugv_random_walk.h.

Constructor & Destructor Documentation

ugv_random_walk::ugv_random_walk

(

)

Constructor that initializes the private member variables.

Definition at line 3 of file lib/ugv_random_walk.cpp.

ugv_random_walk::~ugv_random_walk

(

)

Destructor that deletes the private member objects.

Definition at line 34 of file lib/ugv_random_walk.cpp.

Member Function Documentation

bool ugv_random_walk::new_direction ( )

private

Compute new direction using rng.

Returns

Whether a a new direction could be set successfully.

Definition at line 71 of file lib/ugv_random_walk.cpp.

bool ugv_random_walk::reflect ( )

private

Compute new direction as reflection from wall.

Returns

Whether a a new direction could be set successfully.

Definition at line 95 of file lib/ugv_random_walk.cpp.

geometry_msgs::Pose ugv_random_walk::select_goal ( )

private

Compute goal position from direction.

Returns

The selected goal.

Definition at line 119 of file lib/ugv_random_walk.cpp.

behavior_state_t ugv_random_walk::step

(

)

Move the swarm member to a new position.

Returns

Return the state of the coverage algorithm.

Definition at line 39 of file lib/ugv_random_walk.cpp.

void ugv_random_walk::stop

(

)

Stop moving.

Definition at line 66 of file lib/ugv_random_walk.cpp.

Member Data Documentation

ServiceClient ugv_random_walk::bound_client

private

Service client for determining closest mission area boundary to the current UGV position.

Definition at line 70 of file ugv_random_walk.h.

ServiceClient ugv_random_walk::clear_sector_client

private

Service client for determining the sector clear of obstacles.

Definition at line 75 of file ugv_random_walk.h.

double ugv_random_walk::direction

private

The direction in which the UGV is traveling. It is measured in radian, clockwise starting from north.

Definition at line 90 of file ugv_random_walk.h.

position ugv_random_walk::pos

private

A helper object for position related tasks.

Definition at line 80 of file ugv_random_walk.h.

random_numbers::RandomNumberGenerator* ugv_random_walk::rng

private

The random number generator used for selecting a random direction.

Definition at line 95 of file ugv_random_walk.h.

double ugv_random_walk::step_size

private

The distance that the UGV travels in one step.

Definition at line 85 of file ugv_random_walk.h.

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

• ugv_random_walk.h
• lib/ugv_random_walk.cpp