A class that will identify frontiers in a partially explored map. More...

#include <explore_frontier.h>

Public Member Functions
	ExploreFrontier (Costmap2DClient costmap, navfn::NavfnROS planner)
	Constructs ExploreFrintier with costmap to work on.
bool	getExplorationGoals (tf::Stamped< tf::Pose > start, std::vector< geometry_msgs::Pose > &goals, double cost_scale, double orientation_scale, double gain_scale)
	Returns a list of frontiers, sorted by the planners estimated cost to visit each frontier.
bool	getFrontiers (std::vector< geometry_msgs::Pose > &frontiers)
	Returns all frontiers.
void	getVisualizationMarkers (visualization_msgs::MarkerArray &markers)
	Returns markers representing all frontiers.
Private Member Functions
void	findFrontiers ()
	Finds frontiers and populates frontiers_.
double	getFrontierCost (const Frontier &frontier)
	Calculates cost to explore frontier.
double	getFrontierGain (const Frontier &frontier) const
	Calculates potential information gain of exploring frontier.
double	getOrientationChange (const Frontier &frontier, const tf::Stamped< tf::Pose > &robot_pose) const
	Calculates how much the robot would have to turn to face this frontier.
Private Attributes
costmap_2d::Costmap2D *const	costmap_
Costmap2DClient *const	costmap_client_
std::vector< Frontier >	frontiers_
size_t	last_markers_count_
nav_msgs::OccupancyGrid	map_
navfn::NavfnROS *const	planner_

Detailed Description

A class that will identify frontiers in a partially explored map.

Definition at line 88 of file explore_frontier.h.

Constructor & Destructor Documentation

explore::ExploreFrontier::ExploreFrontier	(	Costmap2DClient *	costmap,
		navfn::NavfnROS *	planner
	)

Constructs ExploreFrintier with costmap to work on.

Parameters:

costmap	The costmap to search for frontiers
planner	A planner to evaluate the cost of going to any frontier

Exceptions:

std::invalid_argument if any argument is NULL

Definition at line 46 of file explore_frontier.cpp.

Member Function Documentation

void explore::ExploreFrontier::findFrontiers ( ) [private]

Finds frontiers and populates frontiers_.

Definition at line 165 of file explore_frontier.cpp.

bool explore::ExploreFrontier::getExplorationGoals	(	tf::Stamped< tf::Pose >	start,
		std::vector< geometry_msgs::Pose > &	goals,
		double	cost_scale,
		double	orientation_scale,
		double	gain_scale
	)

Returns a list of frontiers, sorted by the planners estimated cost to visit each frontier.

Parameters:

start	The current position of the robot
goals	Will be filled with sorted list of current goals
cost_scale	A scaling for the potential to a frontier goal point for the frontier's cost
orientation_scale	A scaling for the change in orientation required to get to a goal point for the frontier's cost
gain_scale	A scaling for the expected information gain to get to a goal point for the frontier's cost

Returns:: True if at least one frontier was found

The frontiers are weighted by a simple cost function, which prefers frontiers which are large and close: frontier cost = travel cost / frontier size

Several different positions are evaluated for each frontier. This improves the robustness of goals which may lie near other obstacles which would prevent planning.

Definition at line 96 of file explore_frontier.cpp.

double explore::ExploreFrontier::getFrontierCost ( const Frontier & frontier ) [private]

Calculates cost to explore frontier.

Parameters:

frontier to evaluate

Definition at line 71 of file explore_frontier.cpp.

double explore::ExploreFrontier::getFrontierGain ( const Frontier & frontier ) const [private]

Calculates potential information gain of exploring frontier.

Parameters:

frontier to evaluate

Definition at line 92 of file explore_frontier.cpp.

bool explore::ExploreFrontier::getFrontiers ( std::vector< geometry_msgs::Pose > & frontiers )

Returns all frontiers.

Parameters:

frontiers Will be filled with current frontiers

Returns:: True if at least one frontier was found

Definition at line 57 of file explore_frontier.cpp.

double explore::ExploreFrontier::getOrientationChange	(	const Frontier &	frontier,
		const tf::Stamped< tf::Pose > &	robot_pose
	)		const `[private]`

Calculates how much the robot would have to turn to face this frontier.

Parameters:

frontier	to evaluate
robot_pose	current pose

Definition at line 80 of file explore_frontier.cpp.

void explore::ExploreFrontier::getVisualizationMarkers ( visualization_msgs::MarkerArray & markers )

Returns markers representing all frontiers.

Parameters:

markers All markers will be added to this vector

Definition at line 322 of file explore_frontier.cpp.

Member Data Documentation

costmap_2d::Costmap2D* const explore::ExploreFrontier::costmap_ [private]

Definition at line 92 of file explore_frontier.h.

Costmap2DClient* const explore::ExploreFrontier::costmap_client_ [private]

Definition at line 91 of file explore_frontier.h.

std::vector<Frontier> explore::ExploreFrontier::frontiers_ [private]

Definition at line 96 of file explore_frontier.h.

size_t explore::ExploreFrontier::last_markers_count_ [private]

Definition at line 98 of file explore_frontier.h.

nav_msgs::OccupancyGrid explore::ExploreFrontier::map_ [private]

Definition at line 95 of file explore_frontier.h.

navfn::NavfnROS* const explore::ExploreFrontier::planner_ [private]

Definition at line 93 of file explore_frontier.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation