Thread-safe implementation of a frontier-search task for an input costmap.
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#include <frontier_search.h>
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| Frontier | buildNewFrontier (unsigned int initial_cell, unsigned int reference, std::vector< bool > &frontier_flag) |
| | Starting from an initial cell, build a frontier from valid adjacent cells. More...
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| double | frontierCost (const Frontier &frontier) |
| | computes frontier cost More...
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| bool | isNewFrontierCell (unsigned int idx, const std::vector< bool > &frontier_flag) |
| | isNewFrontierCell Evaluate if candidate cell is a valid candidate for a new frontier. More...
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Thread-safe implementation of a frontier-search task for an input costmap.
Definition at line 26 of file frontier_search.h.
| frontier_exploration::FrontierSearch::FrontierSearch |
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inline |
| frontier_exploration::FrontierSearch::FrontierSearch |
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costmap_2d::Costmap2D * |
costmap, |
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double |
potential_scale, |
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double |
gain_scale, |
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double |
min_frontier_size |
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Constructor for search task.
- Parameters
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| costmap | Reference to costmap data to search. |
Definition at line 17 of file frontier_search.cpp.
| Frontier frontier_exploration::FrontierSearch::buildNewFrontier |
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unsigned int |
initial_cell, |
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unsigned int |
reference, |
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std::vector< bool > & |
frontier_flag |
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) |
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protected |
Starting from an initial cell, build a frontier from valid adjacent cells.
- Parameters
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| initial_cell | Index of cell to start frontier building |
| reference | Reference index to calculate position from |
| frontier_flag | Flag vector indicating which cells are already marked as frontiers |
- Returns
- new frontier
Definition at line 97 of file frontier_search.cpp.
| double frontier_exploration::FrontierSearch::frontierCost |
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const Frontier & |
frontier | ) |
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protected |
computes frontier cost
cost function is defined by potential_scale and gain_scale
- Parameters
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| frontier | frontier for which compute the cost |
- Returns
- cost of the frontier
Definition at line 191 of file frontier_search.cpp.
| bool frontier_exploration::FrontierSearch::isNewFrontierCell |
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unsigned int |
idx, |
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const std::vector< bool > & |
frontier_flag |
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) |
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protected |
isNewFrontierCell Evaluate if candidate cell is a valid candidate for a new frontier.
- Parameters
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| idx | Index of candidate cell |
| frontier_flag | Flag vector indicating which cells are already marked as frontiers |
- Returns
- true if the cell is frontier cell
Definition at line 172 of file frontier_search.cpp.
Runs search implementation, outward from the start position.
- Parameters
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| position | Initial position to search from |
- Returns
- List of frontiers, if any
Definition at line 27 of file frontier_search.cpp.
| double frontier_exploration::FrontierSearch::gain_scale_ |
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| unsigned char* frontier_exploration::FrontierSearch::map_ |
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| double frontier_exploration::FrontierSearch::min_frontier_size_ |
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| double frontier_exploration::FrontierSearch::potential_scale_ |
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| unsigned int frontier_exploration::FrontierSearch::size_x_ |
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| unsigned int frontier_exploration::FrontierSearch::size_y_ |
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private |
The documentation for this class was generated from the following files: