exploration.h File Reference

#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>
#include "pcl_ros/transforms.h"
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <octomap/octomap.h>
#include <octomap_msgs/Octomap.h>
#include <octomap_msgs/conversions.h>
#include <geometry_msgs/Pose.h>
#include <algorithm>

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Classes
struct	sensorModel
Typedefs
typedef octomap::point3d	point3d
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
typedef pcl::PointXYZ	PointType
Functions
double	calc_MI (const octomap::OcTree *octree, const point3d &sensor_orig, const octomap::Pointcloud &hits, const double before)
octomap::Pointcloud	castSensorRays (const octomap::OcTree *octree, const point3d &position, const point3d &sensor_orientation)
double	countFreeVolume (const octomap::OcTree *octree)
vector< pair< point3d, point3d > >	extractCandidateViewPoints (vector< vector< point3d >> frontier_groups, point3d sensor_orig, int n)
vector< vector< point3d > >	extractFrontierPoints (const octomap::OcTree *octree)
sensorModel	Kinect_360 (64, 48, 2 *PI *57/360, 2 *PI *43/360, 6)
void	kinectCallbacks (const sensor_msgs::PointCloud2ConstPtr &cloud2_msg)
vector< int >	sort_MIs (const vector< double > &v)
Variables
octomap::OcTree *	cur_tree
octomap::OcTree *	cur_tree_2d
ofstream	explo_log_file
point3d	kinect_orig
octomap_msgs::Octomap	msg_octomap
const int	num_of_bay = 3
const int	num_of_samples = 12
const int	num_of_samples_eva = 15
const double	octo_reso = 0.1
std::string	octomap_name_2d
std::string	octomap_name_3d
const double	PI = 3.1415926
tf::TransformListener *	tf_listener

---

Typedef Documentation

typedef octomap::point3d point3d

Definition at line 21 of file exploration.h.

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud

Definition at line 23 of file exploration.h.

typedef pcl::PointXYZ PointType

Definition at line 22 of file exploration.h.

---

Function Documentation

double calc_MI	(	const octomap::OcTree *	octree,
		const point3d &	sensor_orig,
		const octomap::Pointcloud &	hits,
		const double	before
	)

Definition at line 257 of file exploration.h.

octomap::Pointcloud castSensorRays	(	const octomap::OcTree *	octree,
		const point3d &	position,
		const point3d &	sensor_orientation
	)

Definition at line 90 of file exploration.h.

double countFreeVolume

(

const octomap::OcTree *

octree

)

Definition at line 80 of file exploration.h.

vector<pair<point3d, point3d> > extractCandidateViewPoints	(	vector< vector< point3d >>	frontier_groups,
		point3d	sensor_orig,
		int	n
	)

Definition at line 188 of file exploration.h.

vector<vector<point3d> > extractFrontierPoints

(

const octomap::OcTree *

octree

)

Definition at line 112 of file exploration.h.

sensorModel Kinect_360	(	64	,
		48	,
		2 *PI *57/	360,
		2 *PI *43/	360,
		6
	)

void kinectCallbacks

(

const sensor_msgs::PointCloud2ConstPtr &

cloud2_msg

)

Definition at line 267 of file exploration.h.

vector<int> sort_MIs

(

const vector< double > &

v

)

Definition at line 42 of file exploration.h.

---

Variable Documentation

octomap::OcTree* cur_tree

Definition at line 31 of file exploration.h.

octomap::OcTree* cur_tree_2d

Definition at line 32 of file exploration.h.

ofstream explo_log_file

Definition at line 39 of file exploration.h.

point3d kinect_orig

Definition at line 37 of file exploration.h.

octomap_msgs::Octomap msg_octomap

Definition at line 33 of file exploration.h.

const int num_of_bay = 3

Definition at line 28 of file exploration.h.

const int num_of_samples = 12

Definition at line 26 of file exploration.h.

const int num_of_samples_eva = 15

Definition at line 27 of file exploration.h.

const double octo_reso = 0.1

Definition at line 25 of file exploration.h.

std::string octomap_name_2d

Definition at line 40 of file exploration.h.

std::string octomap_name_3d

Definition at line 40 of file exploration.h.

const double PI = 3.1415926

Definition at line 24 of file exploration.h.

tf::TransformListener* tf_listener

Definition at line 35 of file exploration.h.