explore::Explore Class Reference

A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment. More...

#include <explore.h>

Public Member Functions
	Explore ()
void	start ()
void	stop ()
	~Explore ()

Private Member Functions
bool	goalOnBlacklist (const geometry_msgs::Point &goal)
void	makePlan ()
	Make a global plan. More...
void	reachedGoal (const actionlib::SimpleClientGoalState &status, const move_base_msgs::MoveBaseResultConstPtr &result, const geometry_msgs::Point &frontier_goal)
void	visualizeFrontiers (const std::vector< frontier_exploration::Frontier > &frontiers)
	Publish a frontiers as markers. More...

Private Attributes
Costmap2DClient	costmap_client_
ros::Timer	exploring_timer_
std::vector< geometry_msgs::Point >	frontier_blacklist_
double	gain_scale_
size_t	last_markers_count_
ros::Time	last_progress_
ros::Publisher	marker_array_publisher_
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	move_base_client_
ros::Timer	oneshot_
double	orientation_scale_
double	planner_frequency_
double	potential_scale_
double	prev_distance_
geometry_msgs::Point	prev_goal_
ros::NodeHandle	private_nh_
ros::Duration	progress_timeout_
ros::NodeHandle	relative_nh_
frontier_exploration::FrontierSearch	search_
tf::TransformListener	tf_listener_
bool	visualize_

Detailed Description

A class adhering to the robot_actions::Action interface that moves the robot base to explore its environment.

Definition at line 61 of file explore.h.

Constructor & Destructor Documentation

explore::Explore::Explore

(

)

Definition at line 53 of file explore.cpp.

explore::Explore::~Explore

(

)

Definition at line 90 of file explore.cpp.

Member Function Documentation

bool explore::Explore::goalOnBlacklist ( const geometry_msgs::Point &  goal )

private

Definition at line 247 of file explore.cpp.

void explore::Explore::makePlan ( )

private

Make a global plan.

Definition at line 179 of file explore.cpp.

void explore::Explore::reachedGoal ( const actionlib::SimpleClientGoalState &  status, const move_base_msgs::MoveBaseResultConstPtr &  result, const geometry_msgs::Point &  frontier_goal  )

private

Definition at line 264 of file explore.cpp.

void explore::Explore::start

(

)

Definition at line 283 of file explore.cpp.

void explore::Explore::stop

(

)

Definition at line 288 of file explore.cpp.

void explore::Explore::visualizeFrontiers ( const std::vector< frontier_exploration::Frontier > &  frontiers )

private

Publish a frontiers as markers.

Definition at line 95 of file explore.cpp.

Member Data Documentation

Costmap2DClient explore::Explore::costmap_client_

private

Definition at line 93 of file explore.h.

ros::Timer explore::Explore::exploring_timer_

private

Definition at line 97 of file explore.h.

std::vector<geometry_msgs::Point> explore::Explore::frontier_blacklist_

private

Definition at line 100 of file explore.h.

double explore::Explore::gain_scale_

private

Definition at line 108 of file explore.h.

size_t explore::Explore::last_markers_count_

private

Definition at line 104 of file explore.h.

ros::Time explore::Explore::last_progress_

private

Definition at line 103 of file explore.h.

ros::Publisher explore::Explore::marker_array_publisher_

private

Definition at line 90 of file explore.h.

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> explore::Explore::move_base_client_

private

Definition at line 95 of file explore.h.

ros::Timer explore::Explore::oneshot_

private

Definition at line 98 of file explore.h.

double explore::Explore::orientation_scale_

private

Definition at line 108 of file explore.h.

double explore::Explore::planner_frequency_

private

Definition at line 107 of file explore.h.

double explore::Explore::potential_scale_

private

Definition at line 108 of file explore.h.

double explore::Explore::prev_distance_

private

Definition at line 102 of file explore.h.

geometry_msgs::Point explore::Explore::prev_goal_

private

Definition at line 101 of file explore.h.

ros::NodeHandle explore::Explore::private_nh_

private

Definition at line 88 of file explore.h.

ros::Duration explore::Explore::progress_timeout_

private

Definition at line 109 of file explore.h.

ros::NodeHandle explore::Explore::relative_nh_

private

Definition at line 89 of file explore.h.

frontier_exploration::FrontierSearch explore::Explore::search_

private

Definition at line 96 of file explore.h.

tf::TransformListener explore::Explore::tf_listener_

private

Definition at line 91 of file explore.h.

bool explore::Explore::visualize_

private

Definition at line 110 of file explore.h.

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

• explore.h
• explore.cpp