hector_exploration_planner::HectorExplorationPlanner Class Reference

#include <hector_exploration_planner.h>

List of all members.

Public Member Functions
float	angleDifferenceWall (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)
bool	doAlternativeExploration (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &oldplan)
bool	doExploration (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > &plan)
bool	doInnerExploration (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > &plan)
bool	exploreWalls (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > &goals)
bool	findFrontiers (std::vector< geometry_msgs::PoseStamped > &frontiers)
bool	findFrontiers (std::vector< geometry_msgs::PoseStamped > &frontiers, std::vector< geometry_msgs::PoseStamped > &noFrontiers)
bool	findInnerFrontier (std::vector< geometry_msgs::PoseStamped > &innerFrontier)
	HectorExplorationPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	HectorExplorationPlanner ()
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	~HectorExplorationPlanner ()
Private Member Functions
unsigned int	angleDanger (float angle)
float	angleDifference (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)
bool	buildexploration_trans_array_ (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > goals, bool useAnglePenalty)
bool	buildobstacle_trans_array_ ()
unsigned int	cellDanger (int point)
void	clearFrontiers ()
void	deleteMapData ()
int	down (int point)
int	downleft (int point)
int	downright (int point)
void	getAdjacentPoints (int point, int points[])
void	getDiagonalPoints (int point, int points[])
float	getDistanceWeight (const geometry_msgs::PoseStamped &point1, const geometry_msgs::PoseStamped &point2)
void	getStraightPoints (int point, int points[])
bool	getTrajectory (const geometry_msgs::PoseStamped &start, std::vector< geometry_msgs::PoseStamped > goals, std::vector< geometry_msgs::PoseStamped > &plan)
double	getYawToUnknown (int point)
bool	isFree (int point)
bool	isFrontier (int point)
bool	isFrontierReached (int point)
bool	isSameFrontier (int frontier_point1, int frontier_point2)
bool	isValid (int point)
int	left (int point)
bool	recoveryMakePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
void	resetMaps ()
int	right (int point)
void	saveMaps (std::string path)
void	setupMapData ()
int	up (int point)
int	upleft (int point)
int	upright (int point)
Private Attributes
costmap_2d::Costmap2D	costmap_
costmap_2d::Costmap2DROS *	costmap_ros_
unsigned int *	exploration_trans_array_
int *	frontier_map_array_
bool	initialized_
bool *	is_goal_array_
unsigned int	map_height_
unsigned int	map_width_
std::string	name
unsigned int	num_map_cells_
unsigned int *	obstacle_trans_array_
const unsigned char *	occupancy_grid_array_
double	p_alpha_
double	p_dist_for_goal_reached_
int	p_goal_angle_penalty_
int	p_min_frontier_size_
int	p_min_obstacle_dist_
bool	p_plan_in_unknown_
double	p_same_frontier_dist_
bool	p_use_inflated_obs_
ros::ServiceClient	path_service_client_
int	previous_goal_
ros::Publisher	visualization_pub_

---

Detailed Description

Definition at line 39 of file hector_exploration_planner.h.

---

Constructor & Destructor Documentation

HectorExplorationPlanner::HectorExplorationPlanner

(

)

Definition at line 40 of file hector_exploration_planner.cpp.

HectorExplorationPlanner::~HectorExplorationPlanner

(

)

Definition at line 53 of file hector_exploration_planner.cpp.

HectorExplorationPlanner::HectorExplorationPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Definition at line 57 of file hector_exploration_planner.cpp.

---

Member Function Documentation

unsigned int HectorExplorationPlanner::angleDanger

(

float

angle

)

[private]

M_PI;

Definition at line 1226 of file hector_exploration_planner.cpp.

float HectorExplorationPlanner::angleDifference	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal
	)			[private]

Definition at line 1170 of file hector_exploration_planner.cpp.

float HectorExplorationPlanner::angleDifferenceWall	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal
	)

Definition at line 282 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::buildexploration_trans_array_	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped >	goals,
		bool	useAnglePenalty
	)			[private]

Definition at line 539 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::buildobstacle_trans_array_

(

)

[private]

Definition at line 632 of file hector_exploration_planner.cpp.

unsigned int HectorExplorationPlanner::cellDanger

(

int

point

)

[inline, private]

Definition at line 1162 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::clearFrontiers

(

)

[private]

Definition at line 1086 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::deleteMapData

(

)

[private]

Definition at line 518 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::doAlternativeExploration	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	oldplan
	)

Definition at line 242 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::doExploration	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Given a start point, finds a frontier between known and unknown space and generates a plan to go there

Parameters:

	start	The start point
	plan	The plan to explore into unknown space

Definition at line 144 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::doInnerExploration	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

This can be used if there are no frontiers to unknown space left in the map. The robot will retrieve it's path travelled so far via a service and try to go to places having a large distance to this path.

Parameters:

	start	The start point
	plan	The plan to explore into unknown space

Definition at line 192 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::down

(

int

point

)

[inline, private]

Definition at line 1316 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::downleft

(

int

point

)

[inline, private]

Definition at line 1323 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::downright

(

int

point

)

[inline, private]

Definition at line 1309 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::exploreWalls	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped > &	goals
	)

Definition at line 306 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::findFrontiers

(

std::vector< geometry_msgs::PoseStamped > &

frontiers

)

Definition at line 766 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::findFrontiers	(	std::vector< geometry_msgs::PoseStamped > &	frontiers,
		std::vector< geometry_msgs::PoseStamped > &	noFrontiers
	)

Definition at line 775 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::findInnerFrontier

(

std::vector< geometry_msgs::PoseStamped > &

innerFrontier

)

Definition at line 924 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::getAdjacentPoints	(	int	point,
		int	points[]
	)			[inline, private]

Definition at line 1263 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::getDiagonalPoints	(	int	point,
		int	points[]
	)			[inline, private]

Definition at line 1254 of file hector_exploration_planner.cpp.

float HectorExplorationPlanner::getDistanceWeight	(	const geometry_msgs::PoseStamped &	point1,
		const geometry_msgs::PoseStamped &	point2
	)			[private]

Definition at line 1232 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::getStraightPoints	(	int	point,
		int	points[]
	)			[inline, private]

Definition at line 1245 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::getTrajectory	(	const geometry_msgs::PoseStamped &	start,
		std::vector< geometry_msgs::PoseStamped >	goals,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)			[private]

Definition at line 692 of file hector_exploration_planner.cpp.

double HectorExplorationPlanner::getYawToUnknown

(

int

point

)

[private]

Definition at line 1198 of file hector_exploration_planner.cpp.

void HectorExplorationPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Definition at line 62 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::isFree

(

int

point

)

[private]

Definition at line 1094 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::isFrontier

(

int

point

)

[private]

Definition at line 1049 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::isFrontierReached

(

int

point

)

[private]

Definition at line 1117 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::isSameFrontier	(	int	frontier_point1,
		int	frontier_point2
	)			[private]

Definition at line 1143 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::isValid

(

int

point

)

[inline, private]

Definition at line 1090 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::left

(

int

point

)

[inline, private]

Definition at line 1276 of file hector_exploration_planner.cpp.

bool HectorExplorationPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Plans from start to given goal. If orientation quaternion of goal is all zeros, calls exploration instead. This is a hacky workaround that has to be refactored.

Parameters:

	start	The start point
	goal	The goal point (Use orientation quaternion all 0 to let exploration find goal point)
	plan	The generated plan

Definition at line 101 of file hector_exploration_planner.cpp.

bool hector_exploration_planner::HectorExplorationPlanner::recoveryMakePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)			[private]

void HectorExplorationPlanner::resetMaps

(

)

[private]

Definition at line 1080 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::right

(

int

point

)

[inline, private]

Definition at line 1302 of file hector_exploration_planner.cpp.

void hector_exploration_planner::HectorExplorationPlanner::saveMaps

(

std::string

path

)

[private]

void HectorExplorationPlanner::setupMapData

(

)

[private]

Updates costmap data and resizes internal data structures if costmap size has changed. Should be called once before every planning command

Definition at line 494 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::up

(

int

point

)

[inline, private]

Definition at line 1290 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::upleft

(

int

point

)

[inline, private]

Definition at line 1283 of file hector_exploration_planner.cpp.

int HectorExplorationPlanner::upright

(

int

point

)

[inline, private]

Definition at line 1296 of file hector_exploration_planner.cpp.

---

Member Data Documentation

costmap_2d::Costmap2D hector_exploration_planner::HectorExplorationPlanner::costmap_ [private]

Definition at line 118 of file hector_exploration_planner.h.

costmap_2d::Costmap2DROS* hector_exploration_planner::HectorExplorationPlanner::costmap_ros_ [private]

Definition at line 117 of file hector_exploration_planner.h.

unsigned int* hector_exploration_planner::HectorExplorationPlanner::exploration_trans_array_ [private]

Definition at line 121 of file hector_exploration_planner.h.

int* hector_exploration_planner::HectorExplorationPlanner::frontier_map_array_ [private]

Definition at line 123 of file hector_exploration_planner.h.

bool hector_exploration_planner::HectorExplorationPlanner::initialized_ [private]

Definition at line 126 of file hector_exploration_planner.h.

bool* hector_exploration_planner::HectorExplorationPlanner::is_goal_array_ [private]

Definition at line 124 of file hector_exploration_planner.h.

unsigned int hector_exploration_planner::HectorExplorationPlanner::map_height_ [private]

Definition at line 131 of file hector_exploration_planner.h.

unsigned int hector_exploration_planner::HectorExplorationPlanner::map_width_ [private]

Definition at line 130 of file hector_exploration_planner.h.

std::string hector_exploration_planner::HectorExplorationPlanner::name [private]

Definition at line 129 of file hector_exploration_planner.h.

unsigned int hector_exploration_planner::HectorExplorationPlanner::num_map_cells_ [private]

Definition at line 132 of file hector_exploration_planner.h.

unsigned int* hector_exploration_planner::HectorExplorationPlanner::obstacle_trans_array_ [private]

Definition at line 122 of file hector_exploration_planner.h.

const unsigned char* hector_exploration_planner::HectorExplorationPlanner::occupancy_grid_array_ [private]

Definition at line 120 of file hector_exploration_planner.h.

double hector_exploration_planner::HectorExplorationPlanner::p_alpha_ [private]

Definition at line 140 of file hector_exploration_planner.h.

double hector_exploration_planner::HectorExplorationPlanner::p_dist_for_goal_reached_ [private]

Definition at line 141 of file hector_exploration_planner.h.

int hector_exploration_planner::HectorExplorationPlanner::p_goal_angle_penalty_ [private]

Definition at line 137 of file hector_exploration_planner.h.

int hector_exploration_planner::HectorExplorationPlanner::p_min_frontier_size_ [private]

Definition at line 139 of file hector_exploration_planner.h.

int hector_exploration_planner::HectorExplorationPlanner::p_min_obstacle_dist_ [private]

Definition at line 138 of file hector_exploration_planner.h.

bool hector_exploration_planner::HectorExplorationPlanner::p_plan_in_unknown_ [private]

Definition at line 135 of file hector_exploration_planner.h.

double hector_exploration_planner::HectorExplorationPlanner::p_same_frontier_dist_ [private]

Definition at line 142 of file hector_exploration_planner.h.

bool hector_exploration_planner::HectorExplorationPlanner::p_use_inflated_obs_ [private]

Definition at line 136 of file hector_exploration_planner.h.

ros::ServiceClient hector_exploration_planner::HectorExplorationPlanner::path_service_client_ [private]

Definition at line 116 of file hector_exploration_planner.h.

int hector_exploration_planner::HectorExplorationPlanner::previous_goal_ [private]

Definition at line 127 of file hector_exploration_planner.h.

ros::Publisher hector_exploration_planner::HectorExplorationPlanner::visualization_pub_ [private]

Definition at line 115 of file hector_exploration_planner.h.

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The documentation for this class was generated from the following files:

• hector_exploration_planner.h
• hector_exploration_planner.cpp