explore_2d: exploration.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef EXPLORE_2D_EXPLORATION_H
00040 #define EXPLORE_2D_EXPLORATION_H
00041 
00042 #include <nav_msgs/OccupancyGrid.h>
00043 
00044 namespace explore_2d
00045 {
00046 
00048 struct ExplorerParams
00049 {
00050   ExplorerParams (double radius) :
00051     robot_radius(radius)
00052   {}
00053 
00054   double robot_radius;
00055 };
00056 
00057 
00059 class Explorer 
00060 {
00061 public:
00062 
00064   Explorer(const ExplorerParams& params);
00065 
00067   void updateOccupancyGrid (const nav_msgs::OccupancyGrid& grid);
00068 
00070   geometry_msgs::Pose nextNavGoal ();
00071 
00072   
00073 private:
00074 
00075   const ExplorerParams params_;
00076 
00077   nav_msgs::OccupancyGrid::ConstPtr inflated_grid_;
00078 
00079 };
00080 
00081 } // namespace
00082 
00083 #endif // include guard