Classes | Functions
frontier_exploration Namespace Reference

Classes

struct  Frontier
 Represents a frontier. More...
 
class  FrontierSearch
 Thread-safe implementation of a frontier-search task for an input costmap. More...
 

Functions

bool nearestCell (unsigned int &result, unsigned int start, unsigned char val, const costmap_2d::Costmap2D &costmap)
 Find nearest cell of a specified value. More...
 
std::vector< unsigned int > nhood4 (unsigned int idx, const costmap_2d::Costmap2D &costmap)
 Determine 4-connected neighbourhood of an input cell, checking for map edges. More...
 
std::vector< unsigned int > nhood8 (unsigned int idx, const costmap_2d::Costmap2D &costmap)
 Determine 8-connected neighbourhood of an input cell, checking for map edges. More...
 

Function Documentation

bool frontier_exploration::nearestCell ( unsigned int &  result,
unsigned int  start,
unsigned char  val,
const costmap_2d::Costmap2D costmap 
)

Find nearest cell of a specified value.

Parameters
resultIndex of located cell
startIndex initial cell to search from
valSpecified value to search for
costmapReference to map data
Returns
True if a cell with the requested value was found

Definition at line 91 of file costmap_tools.h.

std::vector<unsigned int> frontier_exploration::nhood4 ( unsigned int  idx,
const costmap_2d::Costmap2D costmap 
)

Determine 4-connected neighbourhood of an input cell, checking for map edges.

Parameters
idxinput cell index
costmapReference to map data
Returns
neighbour cell indexes

Definition at line 18 of file costmap_tools.h.

std::vector<unsigned int> frontier_exploration::nhood8 ( unsigned int  idx,
const costmap_2d::Costmap2D costmap 
)

Determine 8-connected neighbourhood of an input cell, checking for map edges.

Parameters
idxinput cell index
costmapReference to map data
Returns
neighbour cell indexes

Definition at line 54 of file costmap_tools.h.



explore
Author(s): Jiri Horner
autogenerated on Mon Jun 10 2019 13:56:49