voronoi_graph_node.h
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1 #ifndef VORONOI_GRAPH_NODE_H
2 #define VORONOI_GRAPH_NODE_H
3 
4 #include <memory>
5 
6 // ROS
7 #include <ros/ros.h>
8 #include <nav_msgs/OccupancyGrid.h>
9 
12 
14 
15 namespace tuw_graph
16 {
17 
18 
20  {
21 
22  public:
24 
27  std::unique_ptr<ros::Rate> rate_;
28  void publishMap();
29  void publishSegments();
30 
31  private:
32  void globalMapCallback(const nav_msgs::OccupancyGrid::ConstPtr& _map);
33  void createGraph(const nav_msgs::OccupancyGrid::ConstPtr& _map, size_t _map_hash);
34  bool loadGraph(size_t _hash);
35  bool loadCustomGraph(std::string _path);
36 
37 
41 
42 
43  std::string graphCachePath_;
44  std::string customGraphPath_;
45 
46  std::string frameGlobalMap_;
47  std::string frameVoronoiMap_;
48 
49 
52  Eigen::Vector2d origin_;
53  float resolution_;
54  cv::Mat map_;
55  cv::Mat distField_;
56  cv::Mat voronoiMap_;
58  std::unique_ptr<float[]> potential;
59  std::vector<Segment> segments_;
61  double inflation_;
64 
65 
66  nav_msgs::OccupancyGrid voronoiMapImage_;
67  };
68 
69 }
70 
71 #endif // TUW_NAV_COSTMAP_NODE_H
72 
tuw_graph::VoronoiGeneratorNode::customGraphPath_
std::string customGraphPath_
Definition: voronoi_graph_node.h:44
voronoi_path_generator.h
tuw_graph::VoronoiGeneratorNode::globalMapCallback
void globalMapCallback(const nav_msgs::OccupancyGrid::ConstPtr &_map)
Definition: voronoi_graph_node.cpp:79
ros::Publisher
tuw_graph::VoronoiGeneratorNode::publishMap
void publishMap()
tuw_graph::VoronoiGeneratorNode::publishSegments
void publishSegments()
Definition: voronoi_graph_node.cpp:180
tuw_graph::VoronoiGeneratorNode::frameGlobalMap_
std::string frameGlobalMap_
Definition: voronoi_graph_node.h:46
ros.h
tuw_graph::VoronoiGeneratorNode
Definition: voronoi_graph_node.h:19
tuw_graph::VoronoiGeneratorNode::voronoiMapImage_
nav_msgs::OccupancyGrid voronoiMapImage_
Definition: voronoi_graph_node.h:66
tuw_graph::VoronoiGeneratorNode::segment_length_
float segment_length_
Definition: voronoi_graph_node.h:57
tuw_graph::VoronoiGeneratorNode::crossingOptimization_
float crossingOptimization_
Definition: voronoi_graph_node.h:62
tuw_graph::VoronoiGeneratorNode::n_param_
ros::NodeHandle n_param_
Definition: voronoi_graph_node.h:26
tuw_graph::VoronoiGeneratorNode::subMap_
ros::Subscriber subMap_
Definition: voronoi_graph_node.h:40
tuw_graph::VoronoiGeneratorNode::smoothing_
int smoothing_
Definition: voronoi_graph_node.h:60
voronoi_graph_generator.h
tuw_graph::VoronoiGeneratorNode::distField_
cv::Mat distField_
Definition: voronoi_graph_node.h:55
tuw_graph::VoronoiGeneratorNode::current_map_hash_
size_t current_map_hash_
Definition: voronoi_graph_node.h:50
tuw_graph::VoronoiGeneratorNode::map_
cv::Mat map_
Definition: voronoi_graph_node.h:54
tuw_graph::VoronoiGeneratorNode::pubVoronoiMapImage_
ros::Publisher pubVoronoiMapImage_
Definition: voronoi_graph_node.h:38
voronoi_map::VoronoiPathGenerator
Definition: voronoi_path_generator.h:13
tuw_graph::VoronoiGeneratorNode::publishVoronoiMapImage_
bool publishVoronoiMapImage_
Definition: voronoi_graph_node.h:51
tuw_graph::VoronoiGeneratorNode::n_
ros::NodeHandle n_
Definition: voronoi_graph_node.h:25
tuw_graph::VoronoiGeneratorNode::potential
std::unique_ptr< float[]> potential
Definition: voronoi_graph_node.h:58
tuw_graph::VoronoiGeneratorNode::VoronoiGeneratorNode
VoronoiGeneratorNode(ros::NodeHandle &n)
Definition: voronoi_graph_node.cpp:26
tuw_graph::VoronoiGeneratorNode::graphCachePath_
std::string graphCachePath_
Definition: voronoi_graph_node.h:43
serializer.h
tuw_graph::VoronoiGeneratorNode::frameVoronoiMap_
std::string frameVoronoiMap_
Definition: voronoi_graph_node.h:47
tuw_graph::VoronoiGeneratorNode::inflation_
double inflation_
Definition: voronoi_graph_node.h:61
tuw_graph::VoronoiGeneratorNode::segments_
std::vector< Segment > segments_
Definition: voronoi_graph_node.h:59
tuw_graph::VoronoiGeneratorNode::rate_
std::unique_ptr< ros::Rate > rate_
Definition: voronoi_graph_node.h:27
tuw_graph::VoronoiGraphGenerator
Definition: voronoi_graph_generator.h:38
tuw_graph::VoronoiGeneratorNode::loadCustomGraph
bool loadCustomGraph(std::string _path)
Definition: voronoi_graph_node.cpp:173
tuw_graph::Serializer
Definition: serializer.h:217
tuw_graph::VoronoiGeneratorNode::loadGraph
bool loadGraph(size_t _hash)
Definition: voronoi_graph_node.cpp:166
tuw_graph::VoronoiGeneratorNode::voronoiMap_
cv::Mat voronoiMap_
Definition: voronoi_graph_node.h:56
tuw_graph::VoronoiGeneratorNode::origin_
Eigen::Vector2d origin_
for debuging
Definition: voronoi_graph_node.h:52
tuw_graph::VoronoiGeneratorNode::resolution_
float resolution_
Definition: voronoi_graph_node.h:53
tuw_graph::VoronoiGeneratorNode::pubSegments_
ros::Publisher pubSegments_
Definition: voronoi_graph_node.h:39
tuw_graph
Definition: serializer.h:19
tuw_graph::VoronoiGeneratorNode::endSegmentOptimization_
float endSegmentOptimization_
Definition: voronoi_graph_node.h:63
ros::NodeHandle
ros::Subscriber
tuw_graph::VoronoiGeneratorNode::createGraph
void createGraph(const nav_msgs::OccupancyGrid::ConstPtr &_map, size_t _map_hash)
Definition: voronoi_graph_node.cpp:137


tuw_voronoi_graph
Author(s): Benjamin Binder
autogenerated on Wed Mar 2 2022 01:10:12