Go to the documentation of this file. 1 #ifndef VORONOI_GRAPH_NODE_H
2 #define VORONOI_GRAPH_NODE_H
8 #include <nav_msgs/OccupancyGrid.h>
27 std::unique_ptr<ros::Rate>
rate_;
33 void createGraph(
const nav_msgs::OccupancyGrid::ConstPtr& _map,
size_t _map_hash);
71 #endif // TUW_NAV_COSTMAP_NODE_H
std::string customGraphPath_
void globalMapCallback(const nav_msgs::OccupancyGrid::ConstPtr &_map)
std::string frameGlobalMap_
nav_msgs::OccupancyGrid voronoiMapImage_
float crossingOptimization_
ros::Publisher pubVoronoiMapImage_
bool publishVoronoiMapImage_
std::unique_ptr< float[]> potential
VoronoiGeneratorNode(ros::NodeHandle &n)
std::string graphCachePath_
std::string frameVoronoiMap_
std::vector< Segment > segments_
std::unique_ptr< ros::Rate > rate_
bool loadCustomGraph(std::string _path)
bool loadGraph(size_t _hash)
Eigen::Vector2d origin_
for debuging
ros::Publisher pubSegments_
float endSegmentOptimization_
void createGraph(const nav_msgs::OccupancyGrid::ConstPtr &_map, size_t _map_hash)
tuw_voronoi_graph
Author(s): Benjamin Binder
autogenerated on Wed Mar 2 2022 01:10:12