frontier_search.h

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#ifndef FRONTIER_SEARCH_H_
#define FRONTIER_SEARCH_H_

#include <frontier_exploration/Frontier.h>
#include <costmap_2d/costmap_2d.h>

namespace frontier_exploration{

class FrontierSearch{

public:

    FrontierSearch(costmap_2d::Costmap2D& costmap);

    std::list<Frontier> searchFrom(geometry_msgs::Point position);

protected:

    Frontier buildNewFrontier(unsigned int initial_cell, unsigned int reference, std::vector<bool>& frontier_flag);

    bool isNewFrontierCell(unsigned int idx, const std::vector<bool>& frontier_flag);

private:

    costmap_2d::Costmap2D& costmap_;
    unsigned char* map_;
    unsigned int size_x_ , size_y_;

};

}
#endif