ExplorationPlanner.h
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00001 #ifndef EXPLORATION_PLANNER_H
00002 #define EXPLORATION_PLANNER_H
00003 
00004 #define EXPL_TARGET_SET 1
00005 #define EXPL_FINISHED   2
00006 #define EXPL_WAITING    3
00007 #define EXPL_FAILED     4
00008 
00009 #include <string>
00010 #include <tf/transform_listener.h>
00011 #include <nav2d_msgs/RobotPose.h>
00012 
00013 #include <nav2d_navigator/GridMap.h>
00014 
00015 // A list of all other robots, that will subscribe to the other robots topic and update itself
00016 typedef std::map<unsigned int, geometry_msgs::Pose2D> PoseList;
00017 
00018 class RobotList
00019 {
00020 public:
00021         RobotList()
00022         {
00023                 ros::NodeHandle robotNode;
00024                 mOtherRobotsSubscriber = robotNode.subscribe("others", 10, &RobotList::receiveOtherPose, this);
00025         }
00026         
00027         void receiveOtherPose(const nav2d_msgs::RobotPose::ConstPtr& msg)
00028         {
00029                 mOtherRobots[msg->robot_id] = msg->pose;
00030         }
00031         
00032         PoseList getRobots() { return mOtherRobots; }
00033         
00034 private:
00035         ros::Subscriber mOtherRobotsSubscriber;
00036         PoseList mOtherRobots;
00037 };
00038 
00039 // The base class for all exploration planners
00040 class ExplorationPlanner
00041 {
00042 public:
00043         virtual ~ExplorationPlanner() {};
00044         virtual int findExplorationTarget(GridMap* map, unsigned int start, unsigned int &goal) = 0;
00045         
00046 };
00047 
00048 #endif


nav2d_navigator
Author(s): Sebastian Kasperski
autogenerated on Thu Aug 27 2015 14:07:13