voronoi_path_generator.h

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#ifndef _GENERATOR
#define _GENERATOR
 
#include <nav_msgs/OccupancyGrid.h>
#include <memory>
#include <opencv2/core/core.hpp>
 
#define DEFAULT_MAP_NAME    "voronoi_map"
 
namespace voronoi_map
{
    class VoronoiPathGenerator
    {
        public:
            VoronoiPathGenerator();
            void prepareMap(const cv::Mat& _map, cv::Mat& _smoothedMap, int _erodeSize);
            void computeDistanceField(const cv::Mat& _map, cv::Mat& _distField) ;
            void computeVoronoiMap(const cv::Mat& _distField, cv::Mat& _voronoiMap);
    };
 
}
 
#endif