Classes
class	DistanceMeasure
	Node that requests WIFI signals based on the distance traveled by the robot, visualises them via RViz and provides the possibility to run an interpolation to get a dense map from it. More...
class	HeatmapClient
	Client for FrontierExplorationServer that receives control points from rviz, and creates boundary polygon for frontier exploration. More...
class	Signal
	Class that reads the signal quality of a wifi device and serves it 1. As a topic 2. As a service The actual core functionality is taken from the iwconfig source code. More...
class	SignalSimulator
	Class that simulates a WIFI network with randomly generated signal qualities. It advertises a topic and a service for that. More...
Functions
template<typename T >
T	bottomLeftPointPolygon (const geometry_msgs::Polygon &polygon)
	Calculate the point with minimal x, y coordinates of all polygon points.
template<typename T >
std::vector< T >	fillPolygon (const geometry_msgs::Polygon &polygon, const double spacing)
	Fill a polygon with points known the spacing between them.
template<typename T >
bool	pointInPolygon (const T &point, const geometry_msgs::Polygon &polygon)
	Evaluate if point is inside area defined by polygon. Undefined behaviour for points on line.
template<typename T , typename S >
double	pointsDistance (const T &one, const S &two)
	Calculate distance between two points.
template<typename T , typename S >
bool	pointsNearby (const T &one, const S &two, const double &proximity)
	Evaluate whether two points are approximately adjacent, within a specified proximity distance.
double	polygonPerimeter (const geometry_msgs::Polygon &polygon)
	Calculate polygon perimeter.
template<typename T , typename S >
std::vector< double >	shepardInterpolation (const std::vector< T > interpolation_points, const std::vector< T > data_points, const std::vector< S > data, const double shepard_power)
	Interpolate a known scattered data set using the Shepard (aka inverse distance weighting) interpolation.
template<typename T >
T	topRightPointPolygon (const geometry_msgs::Polygon &polygon)
	Calculate the point with maximal x, y coordinates of all polygon points.
template<typename T , typename S >
double	yawOfVector (const T &origin, const S &end)
	Calculate the yaw of vector defined by origin and end points.

Function Documentation

template<typename T >

T heatmap::bottomLeftPointPolygon ( const geometry_msgs::Polygon & polygon )

Calculate the point with minimal x, y coordinates of all polygon points.

Extended function

Parameters:

polygon Polygon to process

Returns:: Point with minimum x, y coordinates

Definition at line 115 of file geometry_tools.h.

template<typename T >

std::vector<T> heatmap::fillPolygon	(	const geometry_msgs::Polygon &	polygon,
		const double	spacing
	)

Fill a polygon with points known the spacing between them.

Extended function

Parameters:

polygon	Polygon to process
spacing	Spacing between points

Returns:: Vector of points

Definition at line 171 of file geometry_tools.h.

template<typename T >

bool heatmap::pointInPolygon	(	const T &	point,
		const geometry_msgs::Polygon &	polygon
	)

Evaluate if point is inside area defined by polygon. Undefined behaviour for points on line.

Parameters:

point	Point to test
polygon	Polygon to test

Returns:: True if point is inside polygon, false otherwise

Definition at line 75 of file geometry_tools.h.

template<typename T , typename S >

double heatmap::pointsDistance	(	const T &	one,
		const S &	two
	)

Calculate distance between two points.

Parameters:

one	Point one
two	Point two

Returns:: Distance between two points

Definition at line 34 of file geometry_tools.h.

template<typename T , typename S >

bool heatmap::pointsNearby	(	const T &	one,
		const S &	two,
		const double &	proximity
	)

Evaluate whether two points are approximately adjacent, within a specified proximity distance.

Parameters:

one	Point one
two	Point two
proximity	Proximity distance

Returns:: True if approximately adjacent, false otherwise

Definition at line 64 of file geometry_tools.h.

double heatmap::polygonPerimeter ( const geometry_msgs::Polygon & polygon )

Calculate polygon perimeter.

Parameters:

polygon Polygon to process

Returns:: Perimeter of polygon

Definition at line 43 of file geometry_tools.h.

template<typename T , typename S >

std::vector<double> heatmap::shepardInterpolation	(	const std::vector< T >	interpolation_points,
		const std::vector< T >	data_points,
		const std::vector< S >	data,
		const double	shepard_power
	)

Interpolate a known scattered data set using the Shepard (aka inverse distance weighting) interpolation.

Extended function

Parameters:

interpolation_points	Vector of points (coordinates) to interpolate the data at
data_points	Vector of points (coordinates) of the input data
data	Vector of data entries corresponding to the coordinates in data_points
shepard_power	Determines how strong the distance between points is weighted. For more information read the wikipedia article

Returns:: Vector of interpolated data corresponding to the coordinates in interpolation_points

Definition at line 204 of file geometry_tools.h.

template<typename T >

T heatmap::topRightPointPolygon ( const geometry_msgs::Polygon & polygon )

Calculate the point with maximal x, y coordinates of all polygon points.

Extended function

Parameters:

polygon Polygon to process

Returns:: Point with maximum x, y coordinates

Definition at line 143 of file geometry_tools.h.

template<typename T , typename S >

double heatmap::yawOfVector	(	const T &	origin,
		const S &	end
	)

Calculate the yaw of vector defined by origin and end points.

Parameters:

origin	Origin point
end	End point

Returns:: Yaw angle of vector

Definition at line 93 of file geometry_tools.h.

Classes

Functions

Function Documentation