frontier_exploration::FrontierSearch Class Reference

Thread-safe implementation of a frontier-search task for an input costmap. More...

#include <frontier_search.h>

List of all members.

Public Member Functions
	FrontierSearch (costmap_2d::Costmap2D &costmap)
	Constructor for search task.
std::list< Frontier >	searchFrom (geometry_msgs::Point position)
	Runs search implementation, outward from the start position.
Protected Member Functions
Frontier	buildNewFrontier (unsigned int initial_cell, unsigned int reference, std::vector< bool > &frontier_flag)
	Starting from an initial cell, build a frontier from valid adjacent cells.
bool	isNewFrontierCell (unsigned int idx, const std::vector< bool > &frontier_flag)
	isNewFrontierCell Evaluate if candidate cell is a valid candidate for a new frontier.
Private Attributes
costmap_2d::Costmap2D &	costmap_
unsigned char *	map_
unsigned int	size_x_
unsigned int	size_y_

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Detailed Description

Thread-safe implementation of a frontier-search task for an input costmap.

Definition at line 12 of file frontier_search.h.

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Constructor & Destructor Documentation

frontier_exploration::FrontierSearch::FrontierSearch

(

costmap_2d::Costmap2D &

costmap

)

Constructor for search task.

Parameters:

costmap

Reference to costmap data to search.

Definition at line 17 of file frontier_search.cpp.

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Member Function Documentation

Frontier frontier_exploration::FrontierSearch::buildNewFrontier	(	unsigned int	initial_cell,
		unsigned int	reference,
		std::vector< bool > &	frontier_flag
	)		[protected]

Starting from an initial cell, build a frontier from valid adjacent cells.

Parameters:

initial_cell	Index of cell to start frontier building
reference	Reference index to calculate position from
frontier_flag	Flag vector indicating which cells are already marked as frontiers

Returns:

Definition at line 79 of file frontier_search.cpp.

bool frontier_exploration::FrontierSearch::isNewFrontierCell	(	unsigned int	idx,
		const std::vector< bool > &	frontier_flag
	)		[protected]

isNewFrontierCell Evaluate if candidate cell is a valid candidate for a new frontier.

Parameters:

idx	Index of candidate cell
frontier_flag	Flag vector indicating which cells are already marked as frontiers

Returns:

Definition at line 146 of file frontier_search.cpp.

std::list< Frontier > frontier_exploration::FrontierSearch::searchFrom

(

geometry_msgs::Point

position

)

Runs search implementation, outward from the start position.

Parameters:

position

Initial position to search from

Returns:

List of frontiers, if any

Definition at line 19 of file frontier_search.cpp.

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Member Data Documentation

costmap_2d::Costmap2D& frontier_exploration::FrontierSearch::costmap_ [private]

Definition at line 50 of file frontier_search.h.

unsigned char* frontier_exploration::FrontierSearch::map_ [private]

Definition at line 51 of file frontier_search.h.

unsigned int frontier_exploration::FrontierSearch::size_x_ [private]

Definition at line 52 of file frontier_search.h.

unsigned int frontier_exploration::FrontierSearch::size_y_ [private]

Definition at line 52 of file frontier_search.h.

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

• frontier_search.h
• frontier_search.cpp