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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| 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 12 of file frontier_search.h.
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
Definition at line 79 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
Definition at line 146 of file frontier_search.cpp.
| std::list< Frontier > frontier_exploration::FrontierSearch::searchFrom |
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geometry_msgs::Point |
position | ) |
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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 19 of file frontier_search.cpp.
| unsigned char* frontier_exploration::FrontierSearch::map_ |
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private |
| unsigned int frontier_exploration::FrontierSearch::size_x_ |
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private |
| unsigned int frontier_exploration::FrontierSearch::size_y_ |
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private |
The documentation for this class was generated from the following files: