coverage_path.h

Go to the documentation of this file.

#ifndef COVERAGE_PATH_H
#define COVERAGE_PATH_H

#include <ros/ros.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/Vector3.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetPlan.h>
#include <cpswarm_msgs/GetWaypoint.h>
#include <cpswarm_msgs/GetPoints.h>
#include <cpswarm_msgs/ArrayOfStates.h>
#include "lib/spanning_tree.h"
#include "lib/mst_path.h"

using namespace std;
using namespace ros;

Publisher path_publisher;

Publisher wp_publisher;

Publisher mst_publisher;

Subscriber map_subscriber;

Subscriber swarm_sub;

ServiceClient area_getter;

nav_msgs::OccupancyGrid area;

bool map_valid;

spanning_tree tree;

mst_path path;

map<string, Time> swarm;

double resolution;

bool visualize;

bool divide_area;

bool vertical;

bool turning_points;

bool swarm_path;

double swarm_timeout;

vector<string> behaviors;

bool reconfigure;

#endif // COVERAGE_PATH_H