costmap_2d layer plugin that holds the state for a bounded frontier exploration task. Manages the boundary polygon, superimposes the polygon on the overall exploration costmap, and processes costmap to find next frontier to explore. More...

#include <bounded_explore_layer.h>

Inheritance diagram for frontier_exploration::BoundedExploreLayer:

[legend]

List of all members.

Public Member Functions
	BoundedExploreLayer ()
bool	isDiscretized ()
virtual void	matchSize ()
	Match dimensions and origin of parent costmap.
virtual void	onInitialize ()
	Loads default values and initialize exploration costmap.
virtual void	reset ()
	Reset exploration progress.
virtual void	updateBounds (double origin_x, double origin_y, double origin_yaw, double polygon_min_x, double polygon_min_y, double polygon_max_x, double polygon_max_y)
	Calculate bounds of costmap window to update.
virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update requested costmap window.
	~BoundedExploreLayer ()
Protected Member Functions
bool	getNextFrontier (geometry_msgs::PoseStamped start_pose, geometry_msgs::PoseStamped &next_frontier)
	Search the costmap for next reachable frontier to explore.
bool	getNextFrontierService (frontier_exploration::GetNextFrontier::Request &req, frontier_exploration::GetNextFrontier::Response &res)
	ROS Service wrapper for getNextFrontier.
bool	updateBoundaryPolygon (geometry_msgs::PolygonStamped polygon_stamped)
	Load polygon boundary to draw on map with each update.
bool	updateBoundaryPolygonService (frontier_exploration::UpdateBoundaryPolygon::Request &req, frontier_exploration::UpdateBoundaryPolygon::Response &res)
	ROS Service wrapper for updateBoundaryPolygon.
Private Member Functions
void	mapUpdateKeepObstacles (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Update the map with exploration boundary data.
void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)
Private Attributes
bool	configured_
dynamic_reconfigure::Server < costmap_2d::GenericPluginConfig > *	dsrv_
ros::Publisher	frontier_cloud_pub
std::string	frontier_travel_point_
ros::ServiceServer	frontierService_
bool	marked_
geometry_msgs::Polygon	polygon_
ros::ServiceServer	polygonService_
bool	resize_to_boundary_
tf::TransformListener	tf_listener_

Detailed Description

costmap_2d layer plugin that holds the state for a bounded frontier exploration task. Manages the boundary polygon, superimposes the polygon on the overall exploration costmap, and processes costmap to find next frontier to explore.

Definition at line 22 of file bounded_explore_layer.h.

Constructor & Destructor Documentation

frontier_exploration::BoundedExploreLayer::BoundedExploreLayer ( )

Definition at line 28 of file bounded_explore_layer.cpp.

frontier_exploration::BoundedExploreLayer::~BoundedExploreLayer ( )

Definition at line 30 of file bounded_explore_layer.cpp.

Member Function Documentation

bool frontier_exploration::BoundedExploreLayer::getNextFrontier	(	geometry_msgs::PoseStamped	start_pose,
		geometry_msgs::PoseStamped &	next_frontier
	)		`[protected]`

Search the costmap for next reachable frontier to explore.

Parameters:

start_pose	Pose from which to start search
next_frontier	Pose of found frontier

Returns:: True if a reachable frontier was found, false otherwise

Definition at line 83 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::getNextFrontierService	(	frontier_exploration::GetNextFrontier::Request &	req,
		frontier_exploration::GetNextFrontier::Response &	res
	)		`[protected]`

ROS Service wrapper for getNextFrontier.

Parameters:

req	Service request
res	Service response

Returns:: True on service success, false otherwise

Definition at line 79 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::isDiscretized ( ) [inline]

Definition at line 43 of file bounded_explore_layer.h.

void frontier_exploration::BoundedExploreLayer::mapUpdateKeepObstacles	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		`[private]`

Update the map with exploration boundary data.

Parameters:

master_grid Reference to master costmap

Definition at line 279 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::matchSize ( ) [virtual]

Match dimensions and origin of parent costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 68 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::onInitialize ( ) [virtual]

Loads default values and initialize exploration costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 37 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 75 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::reset ( ) [virtual]

Reset exploration progress.

Reimplemented from costmap_2d::Layer.

Definition at line 171 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::updateBoundaryPolygon ( geometry_msgs::PolygonStamped polygon_stamped ) [protected]

Load polygon boundary to draw on map with each update.

Parameters:

polygon_stamped polygon boundary

Returns:: True if polygon successfully loaded, false otherwise

Definition at line 180 of file bounded_explore_layer.cpp.

bool frontier_exploration::BoundedExploreLayer::updateBoundaryPolygonService	(	frontier_exploration::UpdateBoundaryPolygon::Request &	req,
		frontier_exploration::UpdateBoundaryPolygon::Response &	res
	)		`[protected]`

ROS Service wrapper for updateBoundaryPolygon.

Parameters:

req	Service request
res	Service response

Returns:: True on service success, false otherwise

Definition at line 165 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::updateBounds	(	double	origin_x,
		double	origin_y,
		double	origin_yaw,
		double *	polygon_min_x,
		double *	polygon_min_y,
		double *	polygon_max_x,
		double *	polygon_max_y
	)		`[virtual]`

Calculate bounds of costmap window to update.

Reimplemented from costmap_2d::Layer.

Definition at line 243 of file bounded_explore_layer.cpp.

void frontier_exploration::BoundedExploreLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		`[virtual]`