MultiWavefrontPlanner.h
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00001 #ifndef MULTIWAVEFRONTPLANNER_H_
00002 #define MULTIWAVEFRONTPLANNER_H_
00003 
00004 #include <nav2d_navigator/ExplorationPlanner.h>
00005 
00006 class MultiWavefrontPlanner : public ExplorationPlanner
00007 {
00008 public:
00009         MultiWavefrontPlanner();
00010         ~MultiWavefrontPlanner();
00011         
00012         int findExplorationTarget(GridMap* map, unsigned int start, unsigned int &goal);
00013         
00014 private:
00015         int mRobotID;
00016         bool mWaitForOthers;
00017         
00018         ros::Publisher mWavefrontPublisher;
00019         ros::Publisher mOtherWavefrontPublisher;
00020         
00021         RobotList mRobotList;
00022         
00023         std::string mMapFrame;
00024 }; 
00025 
00026 #endif // MULTIWAVEFRONTPLANNER_H_


nav2d_exploration
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 03:53:48