Particle plume C++ class. More...

#include <PPExplorer.h>

Classes
class	CompareSlices
	Slice of pie comparing class. More...
struct	SliceOfPie
	Data structure for storing slices of pie, yum! More...
Public Member Functions
bool	findClearing (geometry_msgs::PoseStamped *goal)
	Find an unexplored clearing.
bool	findYumiestSlice (geometry_msgs::PoseStamped *goal)
	Calculate the yumiest slice.
double	getExploredArea ()
	Get explored area.
bool	isReady ()
	If PPExplorer is ready to start or not.
bool	nextYumiestSlice (geometry_msgs::PoseStamped *goal)
	Get the nest yumiest slice.
	PPExplorer ()
	Constructor.
	~PPExplorer ()
	Destructor.
Private Member Functions
void	cellsCallback (const nav_msgs::GridCells::ConstPtr &msg)
	Visited cells topic callback.
void	chatterCallback (const pp_explorer::StringIdentified::ConstPtr &msg)
	Chatter topic callback.
void	explorationComplete ()
	Exploration complete.
void	inflatedCallback (const nav_msgs::GridCells::ConstPtr &msg)
	Inflated obstacles topic callback.
bool	isInsidePieRadius (double x, double y, geometry_msgs::PoseStamped *robot)
	Determine if point is inside the pie radius.
bool	isInsideTheMap (int x, int y)
	Determine if a cell is inside the map.
bool	isViableGlobalMapCell (int x, int y)
	Determine if a cell is viable to go to.
bool	isViableLocalMapGoal (double x, double y)
	Determine if a goal is viable to go to.
void	mapCallback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Map topic callback.
void	mapMetaCallback (const nav_msgs::MapMetaData::ConstPtr &msg)
	Map metadata topic callback.
void	obstaclesCallback (const nav_msgs::GridCells::ConstPtr &msg)
	Obstacles topic callback.
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
	Odometry topic callback.
void	posesCallback (const pp_explorer::PoseStampedIdentified::ConstPtr &msg)
	Poses topic callback.
void	ppCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
	Particle plume callback.
void	recoveryCellsCallback (const pp_explorer::GridCellsIdentified::ConstPtr &msg)
	Recovery cells topic callback.
void	setGoal (geometry_msgs::PoseStamped *goal)
	Set goal.
bool	testCell (geometry_msgs::Point cell, std::vector< geometry_msgs::Point > cells)
	Test cell.
bool	yumiestSlice (geometry_msgs::PoseStamped goal, geometry_msgs::PoseStamped robot_pose)
	Calculate the yumiest slice.
Private Attributes
std::list< SliceOfPie >	best_slices_
	List of the current best slices of pie.
double	bubble_radius_
	Bubble radius.
nav_msgs::GridCells	cells_
	Data structure that holds the visited cells.
ros::Subscriber	cells_sub_
	Visited cells topic subscriber.
ros::Publisher	chatter_pub_
	Chatter pub.
ros::Subscriber	chatter_sub_
	Chatter sub.
double	current_heading_weight_
	Current heading weight.
ros::Publisher	debug_goal_pub_
	Debug goal pub.
ros::Publisher	debug_pub_
	Debug cells pub.
bool	debug_slices_
int	find_clearing_sim_steps_
	Number of simulations.
bool	finish_on_next_recovery_
	If any robot finishes it tells the other robots to stop on the next recovery behavior.
std::string	global_frame_id_
	Global frame_id.
bool	got_map_
bool	got_odom_
nav_msgs::GridCells	inflated_
	Data structure that holds the inflated obstacle cells.
ros::Subscriber	inflated_sub_
	Inflated Obstacles topic subscriber.
double	inflation_radius_
	Inflation radius.
nav_msgs::OccupancyGrid	map_
	Map.
ros::Subscriber	map_meta_sub_
	Map metadata topic subscriber.
nav_msgs::MapMetaData	map_metadata_
	Map metadata.
ros::Subscriber	map_sub_
	Map topic subscriber.
double	max_odor_visited_cells_coef_
	Visited cells coefficient.
double	max_visited_cells_coef_
	Visited cells coefficient.
int	min_particle_count_difference_
	Minimum particle count difference.
bool	multi_robot_
	If PPExplorer is working in multi robot or not.
ros::NodeHandle	n_
	Node handler.
nav_msgs::GridCells	obstacles_
	Data structure that holds the obstacle cells.
ros::Subscriber	obstacles_sub_
	Obstacles topic subscriber.
message_filters::Subscriber < nav_msgs::Odometry >	odom_sub_
	Odometry topic subscriber.
double	odor_weight_
	Odor weight.
std::vector < pp_explorer::PoseStampedIdentified >	other_robots_poses_
	Other robots poses on the global frame referential.
double	other_robots_weight_
	Odor weight.
double	pie_radius_
	pie radius.
int	pie_slices_
	pie slices.
pcl::PointCloud< pcl::PointXYZI >	plume_
	Particle plume data structure.
ros::Subscriber	plume_sub_
	Particle plume topic publisher.
ros::NodeHandle	pn_
	Private node handler.
ros::Publisher	poses_pub_
	Pose pub.
ros::Subscriber	poses_sub_
	Pose sub.
std::vector < pp_explorer::GridCellsIdentified >	recovery_cells_
	Data structure that holds the recovery cells.
ros::Publisher	recovery_pub_
	Recovery cells pub.
ros::Subscriber	recovery_sub_
	Recovery cells sub.
geometry_msgs::PoseStamped	robot_pose_
	Robot pose on the global frame referential.
tf::TransformListener	tf_
tf::MessageFilter < nav_msgs::Odometry > *	tf_filter_
std::string	unique_id_
	Unique robot id.
double	visited_cells_weight_
	Visited cells weight.

Detailed Description

Particle plume C++ class.

Short explanation...

Definition at line 74 of file PPExplorer.h.

Constructor & Destructor Documentation

particle_plume::PPExplorer::PPExplorer ( )

Constructor.

Definition at line 42 of file PPExplorer.cpp.

particle_plume::PPExplorer::~PPExplorer ( )

Destructor.

Definition at line 149 of file PPExplorer.cpp.

Member Function Documentation

void particle_plume::PPExplorer::cellsCallback ( const nav_msgs::GridCells::ConstPtr & msg ) [private]

Visited cells topic callback.

This function receives messages from the visited cells topic.

Parameters:

msg	Incoming nav_msgs::GridCells msg.

Definition at line 166 of file PPExplorer.cpp.

void particle_plume::PPExplorer::chatterCallback ( const pp_explorer::StringIdentified::ConstPtr & msg ) [private]

Chatter topic callback.

This function receives messages from the chatter topic for multi-robot communication.

Parameters:

msg	Incoming pp_explorer::StringIdentified msg.

Definition at line 262 of file PPExplorer.cpp.

void particle_plume::PPExplorer::explorationComplete ( ) [private]

Exploration complete.

Publish that exploration is complete on the chatter topic.

Definition at line 977 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::findClearing ( geometry_msgs::PoseStamped * goal )

Find an unexplored clearing.

This function scans the map for an unexplored clearing and sets the goal to the middle of the first clearing that is found.

Parameters:

goal	Robot goal pose.

Returns:: True if succeeded in setting a goal, false otherwise.

Definition at line 633 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::findYumiestSlice ( geometry_msgs::PoseStamped * goal )

Calculate the yumiest slice.

This function determines which direction the robot should take and sets a new goal.

Parameters:

goal	Robot goal pose.

Returns:: True if succeeded in setting a goal, false otherwise.

Definition at line 299 of file PPExplorer.cpp.

double particle_plume::PPExplorer::getExploredArea ( )

Get explored area.

Get the percentage of explored area.

Returns:: The percentage of explored area.

Definition at line 962 of file PPExplorer.cpp.

void particle_plume::PPExplorer::inflatedCallback ( const nav_msgs::GridCells::ConstPtr & msg ) [private]

Inflated obstacles topic callback.

This function receives messages from the inflated obstacles topic.

Parameters:

msg	Incoming nav_msgs::GridCells msg.

Definition at line 221 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::isInsidePieRadius	(	double	x,
		double	y,
		geometry_msgs::PoseStamped *	robot
	)		`[private]`

Determine if point is inside the pie radius.

This helper function determines if a x y point is inside the pie radius centered at the robot pose or not.

Parameters:

x	Test point x coordinate.
y	Test point y coordinate.
robot	Robot pose.

Returns:: True if point is inside pie radius, false otherwise.

Definition at line 914 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::isInsideTheMap	(	int	x,
		int	y
	)		`[private]`

Determine if a cell is inside the map.

This helper function determines if a cell is inside the map ir not.

Parameters:

x	Cell x.
y	Cell y.

Returns:: True if the cell is inside the map, false otherwise.

Definition at line 919 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::isReady ( )

If PPExplorer is ready to start or not.

Definition at line 154 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::isViableGlobalMapCell	(	int	x,
		int	y
	)		`[private]`

Determine if a cell is viable to go to.

This helper function determines if a cell is not an obstacle, not unknown, or too close to either of the previous two.

Parameters:

x	Cell x.
y	Cell y.

Returns:: True if the cell is viable, false otherwise.

Definition at line 924 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::isViableLocalMapGoal	(	double	x,
		double	y
	)		`[private]`

Determine if a goal is viable to go to.

This helper function determines if a goal is not an obstacle, or inflated obstacle.

Parameters:

x	Goal x.
y	Goal y.

Returns:: True if the goal is viable, false otherwise.

Definition at line 944 of file PPExplorer.cpp.

void particle_plume::PPExplorer::mapCallback ( const nav_msgs::OccupancyGrid::ConstPtr & msg ) [private]

Map topic callback.

This function receives messages from the map topic.

Parameters:

msg	Incoming nav_msgs::OccupancyGrid map msg.

Definition at line 172 of file PPExplorer.cpp.

void particle_plume::PPExplorer::mapMetaCallback ( const nav_msgs::MapMetaData::ConstPtr & msg ) [private]

Map metadata topic callback.

This function receives messages from the map_metadata topic.

Parameters:

msg	Incoming nav_msgs::MapMetaData msg.

Definition at line 179 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::nextYumiestSlice ( geometry_msgs::PoseStamped * goal )

Get the nest yumiest slice.

This function pops the first slice in store and sets the next best heading as the robot goal. This is called when the last goal failed.

Parameters:

goal	Robot goal pose.

Returns:: True if succeeded in setting a goal, false otherwise.

Definition at line 622 of file PPExplorer.cpp.

void particle_plume::PPExplorer::obstaclesCallback ( const nav_msgs::GridCells::ConstPtr & msg ) [private]

Obstacles topic callback.

This function receives messages from the obstacles topic.

Parameters:

msg	Incoming nav_msgs::GridCells msg.

Definition at line 215 of file PPExplorer.cpp.

void particle_plume::PPExplorer::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Odometry topic callback.

This function receives messages from the odom topic.

Parameters:

msg	Incoming nav_msgs::Odometry msg.

Definition at line 185 of file PPExplorer.cpp.

void particle_plume::PPExplorer::posesCallback ( const pp_explorer::PoseStampedIdentified::ConstPtr & msg ) [private]

Poses topic callback.

This function receives messages from the poses topic for multi-robot communication.

Parameters:

msg	Incoming pp_explorer::PoseStampedIdentified msg.

Definition at line 271 of file PPExplorer.cpp.

void particle_plume::PPExplorer::ppCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Particle plume callback.

This function receives messages from the plume topic.

Parameters:

msg	Incoming pcl::PointCloud<pcl::PointXYZI> msg.

Definition at line 160 of file PPExplorer.cpp.

void particle_plume::PPExplorer::recoveryCellsCallback ( const pp_explorer::GridCellsIdentified::ConstPtr & msg ) [private]

Recovery cells topic callback.

This function receives messages from the recovery cells topic.

Parameters:

msg	Incoming pp_explorer::GridCellsIdentified msg.

Definition at line 227 of file PPExplorer.cpp.

void particle_plume::PPExplorer::setGoal ( geometry_msgs::PoseStamped * goal ) [private]

Set goal.

This function sets a goal to the robot from the current yumiest slice.

Parameters:

goal	Robot goal pose.

Definition at line 884 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::testCell	(	geometry_msgs::Point *	cell,
		std::vector< geometry_msgs::Point > *	cells
	)		`[private]`

Test cell.

This is a helper function for findClearing and it test for a cell inside a vector of cells.

Parameters:

cell	The cell to be tested.
cells	The vector of cells to be tested.

Returns:: True if the cell is found on the vector cells, false otherwise.

Definition at line 873 of file PPExplorer.cpp.

bool particle_plume::PPExplorer::yumiestSlice	(	geometry_msgs::PoseStamped *	goal,
		geometry_msgs::PoseStamped *	robot_pose
	)		`[private]`

Calculate the yumiest slice.

This function determines which direction the robot should take and sets a new goal.

Parameters:

goal	Robot goal pose.
robot_pose	Robot initial pose.

Returns:: True if succeeded in setting a goal, false otherwise.

Definition at line 304 of file PPExplorer.cpp.

Member Data Documentation

std::list<SliceOfPie> particle_plume::PPExplorer::best_slices_ [private]

List of the current best slices of pie.

Definition at line 281 of file PPExplorer.h.

double particle_plume::PPExplorer::bubble_radius_ [private]

Bubble radius.

The radius of the bubble used to count particles during odor gradient extraction

Definition at line 266 of file PPExplorer.h.

nav_msgs::GridCells particle_plume::PPExplorer::cells_ [private]

Data structure that holds the visited cells.

Definition at line 190 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::cells_sub_ [private]

Visited cells topic subscriber.

Definition at line 140 of file PPExplorer.h.

ros::Publisher particle_plume::PPExplorer::chatter_pub_ [private]

Chatter pub.

Definition at line 161 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::chatter_sub_ [private]

Chatter sub.

Definition at line 159 of file PPExplorer.h.

double particle_plume::PPExplorer::current_heading_weight_ [private]

Current heading weight.

The weight given to the robot's current heading in the cost function.

Definition at line 250 of file PPExplorer.h.

ros::Publisher particle_plume::PPExplorer::debug_goal_pub_ [private]

Debug goal pub.

Definition at line 181 of file PPExplorer.h.

ros::Publisher particle_plume::PPExplorer::debug_pub_ [private]

Debug cells pub.

Definition at line 179 of file PPExplorer.h.

bool particle_plume::PPExplorer::debug_slices_ [private]

Definition at line 183 of file PPExplorer.h.

int particle_plume::PPExplorer::find_clearing_sim_steps_ [private]

Number of simulations.

Number of simulations performed during the find clearing stage.

Definition at line 234 of file PPExplorer.h.

bool particle_plume::PPExplorer::finish_on_next_recovery_ [private]

If any robot finishes it tells the other robots to stop on the next recovery behavior.

Definition at line 174 of file PPExplorer.h.

std::string particle_plume::PPExplorer::global_frame_id_ [private]

Global frame_id.

Definition at line 206 of file PPExplorer.h.

bool particle_plume::PPExplorer::got_map_ [private]

Definition at line 456 of file PPExplorer.h.

bool particle_plume::PPExplorer::got_odom_ [private]

Definition at line 457 of file PPExplorer.h.

nav_msgs::GridCells particle_plume::PPExplorer::inflated_ [private]

Data structure that holds the inflated obstacle cells.

Definition at line 200 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::inflated_sub_ [private]

Inflated Obstacles topic subscriber.

Definition at line 147 of file PPExplorer.h.

double particle_plume::PPExplorer::inflation_radius_ [private]

Inflation radius.

The inflation radius used by the navigation stack.

Definition at line 239 of file PPExplorer.h.

nav_msgs::OccupancyGrid particle_plume::PPExplorer::map_ [private]

Map.

Definition at line 193 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::map_meta_sub_ [private]

Map metadata topic subscriber.

Definition at line 138 of file PPExplorer.h.

nav_msgs::MapMetaData particle_plume::PPExplorer::map_metadata_ [private]

Map metadata.

Definition at line 195 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::map_sub_ [private]

Map topic subscriber.

Definition at line 136 of file PPExplorer.h.

double particle_plume::PPExplorer::max_odor_visited_cells_coef_ [private]

Visited cells coefficient.

This coefficient gives the weight given to the number of visited cells during when odor is present, should be higher than max_visited_cells_coef.

See also:: max_visited_cells_coef_

Definition at line 229 of file PPExplorer.h.

double particle_plume::PPExplorer::max_visited_cells_coef_ [private]

Visited cells coefficient.

This coefficient gives the weight given to the number of visited cells.

Definition at line 222 of file PPExplorer.h.

int particle_plume::PPExplorer::min_particle_count_difference_ [private]

Minimum particle count difference.

The minimum particle count difference allowed for an odor gradient to be considered.

Definition at line 271 of file PPExplorer.h.

bool particle_plume::PPExplorer::multi_robot_ [private]

If PPExplorer is working in multi robot or not.

Definition at line 151 of file PPExplorer.h.

ros::NodeHandle particle_plume::PPExplorer::n_ [private]

Node handler.

Definition at line 128 of file PPExplorer.h.

nav_msgs::GridCells particle_plume::PPExplorer::obstacles_ [private]

Data structure that holds the obstacle cells.

Definition at line 198 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::obstacles_sub_ [private]

Obstacles topic subscriber.

Definition at line 145 of file PPExplorer.h.

message_filters::Subscriber<nav_msgs::Odometry> particle_plume::PPExplorer::odom_sub_ [private]

Odometry topic subscriber.

Definition at line 132 of file PPExplorer.h.

double particle_plume::PPExplorer::odor_weight_ [private]

Odor weight.

The weight given to the odor presence in the cost function.

Definition at line 255 of file PPExplorer.h.

std::vector<pp_explorer::PoseStampedIdentified> particle_plume::PPExplorer::other_robots_poses_ [private]

Other robots poses on the global frame referential.

Definition at line 171 of file PPExplorer.h.

double particle_plume::PPExplorer::other_robots_weight_ [private]

Odor weight.

The weight given to the heading in regard to the other robots in the cost function.

Definition at line 260 of file PPExplorer.h.

double particle_plume::PPExplorer::pie_radius_ [private]

pie radius.

The pie radius determines the radius around the robot for which viable paths will be calculated.

Definition at line 212 of file PPExplorer.h.

int particle_plume::PPExplorer::pie_slices_ [private]

pie slices.

The number of pie slices determines the number of paths that will be considered.

Definition at line 217 of file PPExplorer.h.

pcl::PointCloud<pcl::PointXYZI> particle_plume::PPExplorer::plume_ [private]

Particle plume data structure.

Definition at line 187 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::plume_sub_ [private]

Particle plume topic publisher.

Definition at line 142 of file PPExplorer.h.

ros::NodeHandle particle_plume::PPExplorer::pn_ [private]

Private node handler.

Definition at line 130 of file PPExplorer.h.

ros::Publisher particle_plume::PPExplorer::poses_pub_ [private]

Pose pub.

Definition at line 165 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::poses_sub_ [private]

Pose sub.

Definition at line 163 of file PPExplorer.h.

std::vector<pp_explorer::GridCellsIdentified> particle_plume::PPExplorer::recovery_cells_ [private]

Data structure that holds the recovery cells.

Definition at line 168 of file PPExplorer.h.

ros::Publisher particle_plume::PPExplorer::recovery_pub_ [private]

Recovery cells pub.

Definition at line 157 of file PPExplorer.h.

ros::Subscriber particle_plume::PPExplorer::recovery_sub_ [private]

Recovery cells sub.

Definition at line 155 of file PPExplorer.h.

geometry_msgs::PoseStamped particle_plume::PPExplorer::robot_pose_ [private]

Robot pose on the global frame referential.

Definition at line 203 of file PPExplorer.h.

tf::TransformListener particle_plume::PPExplorer::tf_ [private]

Definition at line 133 of file PPExplorer.h.

tf::MessageFilter<nav_msgs::Odometry>* particle_plume::PPExplorer::tf_filter_ [private]

Definition at line 134 of file PPExplorer.h.

std::string particle_plume::PPExplorer::unique_id_ [private]

Unique robot id.

Definition at line 153 of file PPExplorer.h.

double particle_plume::PPExplorer::visited_cells_weight_ [private]

Visited cells weight.

The weight given to the ammount of visited cells in the cost function.

Definition at line 245 of file PPExplorer.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation