Classes | |
| struct | BlockedEdge |
| struct | DuplicateEdgeIdException |
| Exception for trying to add an EdgeId that already exists. More... | |
| struct | DuplicateNodeIdException |
| Exception for trying to add a NodeId that already exists. More... | |
| class | MoveBaseTopo |
| struct | ParallelEdgeException |
| Exception when trying to add edge between two already connected nodes. More... | |
| class | Roadmap |
| class | RoadmapException |
| class | RoadmapNode |
| struct | SingleSourceShortestPaths |
| struct | UnknownEdgeIdException |
| Exception for unknown EdgeId. More... | |
| struct | UnknownNodeIdException |
| Exception for unknown node id. More... | |
Typedefs | |
| typedef pair< DistanceMap, PredMap > | DijkstraResult |
| typedef map< GraphVertex, double > | DistanceMap |
| typedef std::map< unsigned, GraphEdge > | EdgeMap |
| typedef std::vector< unsigned > | EdgeVec |
| typedef boost::adjacency_list < boost::multisetS, boost::listS, boost::undirectedS, msg::RoadmapNode, msg::RoadmapEdge > | Graph |
| typedef boost::graph_traits < Graph >::edge_descriptor | GraphEdge |
| typedef boost::graph_traits < Graph >::vertex_descriptor | GraphVertex |
| typedef vector< unsigned > | Grids |
| typedef boost::mutex::scoped_lock | Lock |
| typedef vector< unsigned > | Nodes |
| typedef std::vector< unsigned > | NodeVec |
| typedef std::pair< NodeVec, EdgeVec > | Path |
| typedef vector< gm::Point > | PointVec |
| typedef map< GraphVertex, GraphVertex > | PredMap |
| typedef boost::shared_ptr < SingleSourceShortestPaths > | ResultPtr |
| typedef std::map< unsigned, GraphVertex > | VertexMap |
| typedef std::vector< unsigned > | WaypointVec |
Functions | |
| DijkstraResult | dijkstra (const Roadmap &r, const unsigned src) |
| boost::optional< Path > | extractPath (ResultPtr res, unsigned dest) |
| Extract path from shortest path query, or null value if there's no path. | |
| optional< Path > | extractPath (DijkstraResult &res, const unsigned src, const unsigned dest, const Roadmap &r) |
| optional< gm::Point > | freePointNear (const nm::OccupancyGrid &grid, const double x0, const double y0, const double r) |
| Roadmap | fromRosMessage (const msg::TopologicalRoadmap &r) |
| Convert TopologicalRoadmapROS message back into ROS. | |
| gm::Point | nodePos (const Roadmap &r, tf::TransformListener &tf, const std::string &frame, const unsigned n) |
| std::pair< std::vector < unsigned >, std::vector < geometry_msgs::Point > > | nodesOnGrid (const unsigned g, const Roadmap &r, const topological_map_2d::TopologicalMap &t) |
| geometry_msgs::Point | positionOnGrid (unsigned n, unsigned g, const Roadmap &r, const topological_map_2d::TopologicalMap &t) |
| ResultPtr | shortestPaths (const Roadmap &r, unsigned src) |
| Return object that can be used for shortest path queries Note the code scales with the largest node id in the graph, and assumes all edge costs are positive. | |
| msg::TopologicalRoadmap::Ptr | toRosMessage (const Roadmap &r) |
| Convert Roadmap into TopologicalRoadmap ROS message. | |
| void | visualize (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, bool use_node_ids, const std::vector< unsigned > &path) |
| void | visualize (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const bool use_node_ids, const Path &path) |
| void | visualizeEdges (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const Path &plan) |
| void | visualizeNodes (const Roadmap &r, ros::Publisher &pub, tf::TransformListener &tf, const std::string &frame, const bool use_node_ids) |
| typedef pair<DistanceMap, PredMap> topological_roadmap::DijkstraResult |
Definition at line 60 of file shortest_paths.cpp.
| typedef map<GraphVertex, double> topological_roadmap::DistanceMap |
Definition at line 58 of file shortest_paths.cpp.
| typedef std::map<unsigned, GraphEdge> topological_roadmap::EdgeMap |
Definition at line 58 of file roadmap.cpp.
| typedef std::vector<unsigned> topological_roadmap::EdgeVec |
Definition at line 51 of file shortest_paths.h.
| typedef boost::adjacency_list<boost::multisetS, boost::listS, boost::undirectedS, msg::RoadmapNode, msg::RoadmapEdge> topological_roadmap::Graph |
| typedef boost::graph_traits<Graph>::edge_descriptor topological_roadmap::GraphEdge |
| typedef boost::graph_traits<Graph>::vertex_descriptor topological_roadmap::GraphVertex |
| typedef vector<unsigned> topological_roadmap::Grids |
Definition at line 61 of file roadmap.cpp.
| typedef boost::mutex::scoped_lock topological_roadmap::Lock |
Definition at line 63 of file move_base_topo.cpp.
| typedef std::set< unsigned > topological_roadmap::Nodes |
Definition at line 60 of file roadmap.cpp.
| typedef std::vector<unsigned> topological_roadmap::NodeVec |
Definition at line 50 of file shortest_paths.h.
| typedef std::vector< unsigned > topological_roadmap::Path |
Definition at line 52 of file shortest_paths.h.
| typedef vector< gm::Point > topological_roadmap::PointVec |
Definition at line 59 of file roadmap.cpp.
| typedef map<GraphVertex, GraphVertex> topological_roadmap::PredMap |
Definition at line 59 of file shortest_paths.cpp.
| typedef boost::shared_ptr<SingleSourceShortestPaths> topological_roadmap::ResultPtr |
Definition at line 47 of file shortest_paths.h.
| typedef std::map<unsigned, GraphVertex> topological_roadmap::VertexMap |
Definition at line 57 of file roadmap.cpp.
| typedef std::vector<unsigned> topological_roadmap::WaypointVec |
Definition at line 71 of file move_base_topo.h.
| DijkstraResult topological_roadmap::dijkstra | ( | const Roadmap & | r, |
| const unsigned | src | ||
| ) |
Definition at line 62 of file shortest_paths.cpp.
| optional< Path > topological_roadmap::extractPath | ( | ResultPtr | res, |
| unsigned | dest | ||
| ) |
Extract path from shortest path query, or null value if there's no path.
Definition at line 156 of file shortest_paths.cpp.
| optional<Path> topological_roadmap::extractPath | ( | DijkstraResult & | res, |
| const unsigned | src, | ||
| const unsigned | dest, | ||
| const Roadmap & | r | ||
| ) |
Definition at line 128 of file shortest_paths.cpp.
| optional<gm::Point> topological_roadmap::freePointNear | ( | const nm::OccupancyGrid & | grid, |
| const double | x0, | ||
| const double | y0, | ||
| const double | r | ||
| ) |
Definition at line 236 of file roadmap_builder.cpp.
| Roadmap topological_roadmap::fromRosMessage | ( | const msg::TopologicalRoadmap & | r | ) |
Convert TopologicalRoadmapROS message back into ROS.
Definition at line 68 of file ros_conversion.cpp.
| gm::Point topological_roadmap::nodePos | ( | const Roadmap & | r, |
| tf::TransformListener & | tf, | ||
| const std::string & | frame, | ||
| const unsigned | n | ||
| ) |
Definition at line 82 of file ros_conversion.cpp.
| pair< Nodes, PointVec > topological_roadmap::nodesOnGrid | ( | const unsigned | g, |
| const Roadmap & | r, | ||
| const topological_map_2d::TopologicalMap & | t | ||
| ) |
| All | waypoints lying on a given grid of the topological map |
Definition at line 221 of file roadmap.cpp.
| gm::Point topological_roadmap::positionOnGrid | ( | unsigned | n, |
| unsigned | g, | ||
| const Roadmap & | r, | ||
| const topological_map_2d::TopologicalMap & | t | ||
| ) |
| Position | of a waypoint wrt a grid on the topological map |
Definition at line 197 of file roadmap.cpp.
| ResultPtr topological_roadmap::shortestPaths | ( | const Roadmap & | r, |
| unsigned | src | ||
| ) |
Return object that can be used for shortest path queries Note the code scales with the largest node id in the graph, and assumes all edge costs are positive.
Definition at line 122 of file shortest_paths.cpp.
| msg::TopologicalRoadmap::Ptr topological_roadmap::toRosMessage | ( | const Roadmap & | r | ) |
Convert Roadmap into TopologicalRoadmap ROS message.
Definition at line 55 of file ros_conversion.cpp.
| void topological_roadmap::visualize | ( | const Roadmap & | r, |
| ros::Publisher & | pub, | ||
| tf::TransformListener & | tf, | ||
| const std::string & | frame, | ||
| bool | use_node_ids, | ||
| const std::vector< unsigned > & | path | ||
| ) |
Visualize roadmap r using pub, which must be a publisher of VisualizationMarker messages.
| frame | Frame to transform data into before publishing. |
| use_node_ids | If true, each node will be a separate marker with the corresponding node's id, to facilitate debugging. If false, the entire roadmap will be published as a single marker. |
| void topological_roadmap::visualize | ( | const Roadmap & | r, |
| ros::Publisher & | pub, | ||
| tf::TransformListener & | tf, | ||
| const std::string & | frame, | ||
| const bool | use_node_ids, | ||
| const Path & | path | ||
| ) |
Definition at line 204 of file ros_conversion.cpp.
| void topological_roadmap::visualizeEdges | ( | const Roadmap & | r, |
| ros::Publisher & | pub, | ||
| tf::TransformListener & | tf, | ||
| const std::string & | frame, | ||
| const Path & | plan | ||
| ) |
Definition at line 142 of file ros_conversion.cpp.
| void topological_roadmap::visualizeNodes | ( | const Roadmap & | r, |
| ros::Publisher & | pub, | ||
| tf::TransformListener & | tf, | ||
| const std::string & | frame, | ||
| const bool | use_node_ids | ||
| ) |
Definition at line 94 of file ros_conversion.cpp.