#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 _erodeSize)
	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, const std::vector< double > &_parameters) const
	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...

bool	load (const std::string &_mapPath, std::vector< Segment > &_segs, Eigen::Vector2d &_origin, float &_resolution, cv::Mat &_map)
	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...

void	save (const std::string &_mapPath, const std::vector< Segment > &_segs, const Eigen::Vector2d &_origin, const float &_resolution, const cv::Mat &_map)
	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_

double	inflation_

cv::Mat	map_

Eigen::Vector2d	origin_
	for debuging More...

std::unique_ptr< float[]>	potential

bool	publishVoronoiMapImage_

ros::Publisher	pubSegments_

ros::Publisher	pubVoronoiMapImage_

float	resolution_

float	segment_length_

std::vector< Segment >	segments_

int	smoothing_

ros::Subscriber	subMap_

cv::Mat	voronoiMap_

nav_msgs::OccupancyGrid	voronoiMapImage_

Detailed Description

Definition at line 19 of file voronoi_graph_node.h.

Constructor & Destructor Documentation

◆ VoronoiGeneratorNode()

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

[meters]

Definition at line 26 of file voronoi_graph_node.cpp.

Member Function Documentation

◆ createGraph()

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

private

Definition at line 137 of file voronoi_graph_node.cpp.

◆ globalMapCallback()

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

private

Definition at line 79 of file voronoi_graph_node.cpp.

◆ loadCustomGraph()

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

private

Definition at line 173 of file voronoi_graph_node.cpp.

◆ loadGraph()

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

private

Definition at line 166 of file voronoi_graph_node.cpp.

◆ publishMap()

void tuw_graph::VoronoiGeneratorNode::publishMap ( )

◆ publishSegments()

void tuw_graph::VoronoiGeneratorNode::publishSegments ( )

Definition at line 180 of file voronoi_graph_node.cpp.

Member Data Documentation

◆ crossingOptimization_

float tuw_graph::VoronoiGeneratorNode::crossingOptimization_

private

Definition at line 62 of file voronoi_graph_node.h.

◆ current_map_hash_

size_t tuw_graph::VoronoiGeneratorNode::current_map_hash_

private

Definition at line 50 of file voronoi_graph_node.h.

◆ customGraphPath_

std::string tuw_graph::VoronoiGeneratorNode::customGraphPath_

private

Definition at line 44 of file voronoi_graph_node.h.

◆ distField_

cv::Mat tuw_graph::VoronoiGeneratorNode::distField_

private

Definition at line 55 of file voronoi_graph_node.h.

◆ endSegmentOptimization_

float tuw_graph::VoronoiGeneratorNode::endSegmentOptimization_

private

Definition at line 63 of file voronoi_graph_node.h.

◆ frameGlobalMap_

std::string tuw_graph::VoronoiGeneratorNode::frameGlobalMap_

private

Definition at line 46 of file voronoi_graph_node.h.

◆ frameVoronoiMap_

std::string tuw_graph::VoronoiGeneratorNode::frameVoronoiMap_

private

Definition at line 47 of file voronoi_graph_node.h.

◆ graphCachePath_

std::string tuw_graph::VoronoiGeneratorNode::graphCachePath_

private

Definition at line 43 of file voronoi_graph_node.h.

◆ inflation_

double tuw_graph::VoronoiGeneratorNode::inflation_

private

Definition at line 61 of file voronoi_graph_node.h.

◆ map_

cv::Mat tuw_graph::VoronoiGeneratorNode::map_

private

Definition at line 54 of file voronoi_graph_node.h.

◆ n_

ros::NodeHandle tuw_graph::VoronoiGeneratorNode::n_

Definition at line 25 of file voronoi_graph_node.h.

◆ n_param_

ros::NodeHandle tuw_graph::VoronoiGeneratorNode::n_param_

Definition at line 26 of file voronoi_graph_node.h.

◆ origin_

Eigen::Vector2d tuw_graph::VoronoiGeneratorNode::origin_

private

for debuging

Definition at line 52 of file voronoi_graph_node.h.

◆ potential

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

private

Definition at line 58 of file voronoi_graph_node.h.

◆ publishVoronoiMapImage_

bool tuw_graph::VoronoiGeneratorNode::publishVoronoiMapImage_

private

Definition at line 51 of file voronoi_graph_node.h.

◆ pubSegments_

ros::Publisher tuw_graph::VoronoiGeneratorNode::pubSegments_

private

Definition at line 39 of file voronoi_graph_node.h.

◆ pubVoronoiMapImage_

ros::Publisher tuw_graph::VoronoiGeneratorNode::pubVoronoiMapImage_

private

Definition at line 38 of file voronoi_graph_node.h.

◆ rate_

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

Definition at line 27 of file voronoi_graph_node.h.

◆ resolution_

float tuw_graph::VoronoiGeneratorNode::resolution_

private

Definition at line 53 of file voronoi_graph_node.h.

◆ segment_length_

float tuw_graph::VoronoiGeneratorNode::segment_length_

private

Definition at line 57 of file voronoi_graph_node.h.

◆ segments_

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

private

Definition at line 59 of file voronoi_graph_node.h.

◆ smoothing_

int tuw_graph::VoronoiGeneratorNode::smoothing_

private

Definition at line 60 of file voronoi_graph_node.h.

◆ subMap_

ros::Subscriber tuw_graph::VoronoiGeneratorNode::subMap_

private

Definition at line 40 of file voronoi_graph_node.h.

◆ voronoiMap_

cv::Mat tuw_graph::VoronoiGeneratorNode::voronoiMap_

private

Definition at line 56 of file voronoi_graph_node.h.

◆ voronoiMapImage_

nav_msgs::OccupancyGrid tuw_graph::VoronoiGeneratorNode::voronoiMapImage_

private

Definition at line 66 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

◆ VoronoiGeneratorNode()

Member Function Documentation

◆ createGraph()

◆ globalMapCallback()

◆ loadCustomGraph()

◆ loadGraph()

◆ publishMap()

◆ publishSegments()

Member Data Documentation

◆ crossingOptimization_

◆ current_map_hash_

◆ customGraphPath_

◆ distField_

◆ endSegmentOptimization_

◆ frameGlobalMap_

◆ frameVoronoiMap_

◆ graphCachePath_

◆ inflation_

◆ map_

◆ n_

◆ n_param_

◆ origin_

◆ potential

◆ publishVoronoiMapImage_

◆ pubSegments_

◆ pubVoronoiMapImage_

◆ rate_

◆ resolution_

◆ segment_length_

◆ segments_

◆ smoothing_

◆ subMap_

◆ voronoiMap_

◆ voronoiMapImage_