An class to compute the coverage path based on a minimum-spanning-tree (MST). More...

#include <mst_path.h>

Public Member Functions
bool	generate_path (geometry_msgs::Point start)
	Generate all way points for the path. More...

nav_msgs::Path	get_path ()
	Get the complete path. More...

geometry_msgs::Point	get_waypoint (geometry_msgs::Point position, double tolerance)
	Get the current waypoint and possibly select next waypoint, if close enough. More...

void	initialize_graph (nav_msgs::OccupancyGrid gridmap, bool vertical=false, bool connect4=true)
	Initialize the internal graph structure that represents the area division. More...

void	initialize_map (geometry_msgs::Point origin, double rotation, double width, double height)
	Initialize properties of the area to be covered. More...

void	initialize_tree (vector< edge > mst)
	Remove edges of the graph that overlap with the tree. More...

	mst_path ()
	Constructor. More...

void	reduce ()
	Remove waypoints that are within straight line segments of the path. Only keep turning points of the path. More...

bool	valid ()
	Check whether the current waypoint index is valid. More...

Private Member Functions
void	add_edge (int from, int to, int cost)
	Add an edge to the tree graph. More...

double	dist (geometry_msgs::Point p1, geometry_msgs::Point p2)
	Calculate the distance between two points. More...

geometry_msgs::Point	get_wp (int offset=0)
	Get the current way point. More...

void	remove_edge (edge e)
	Remove an edge from the tree graph. More...

Private Attributes
unordered_set< edge, hash_edge >	edges
	Priority queue of edge objects sorted by cost. More...

double	height
	Height of the area to cover. More...

nav_msgs::OccupancyGrid	map
	The grid map that needs to be covered by the MST path. More...

vector< unordered_set< int > >	nodes
	The sets of connected vertices. More...

geometry_msgs::Point	origin
	Coordinate of the bottom left bounding point of the area. More...

deque< geometry_msgs::Point >	path
	The boustrophedon path. More...

double	rotation
	The rotation of the map. More...

bool	vertical
	Whether the sweeping pattern is vertical or horizontal. More...

double	width
	Width of the area to cover. More...

int	wp
	The current way point. More...

Detailed Description

An class to compute the coverage path based on a minimum-spanning-tree (MST).

Definition at line 22 of file mst_path.h.

Constructor & Destructor Documentation

mst_path::mst_path ( )

Constructor.

Definition at line 3 of file mst_path.cpp.

Member Function Documentation

void mst_path::add_edge	(	int	from,
		int	to,
		int	cost
	)

private

Add an edge to the tree graph.

Parameters

from	The starting vertex.
to	The ending vertex.
cost	The cost of the edge.

Definition at line 269 of file mst_path.cpp.

double mst_path::dist	(	geometry_msgs::Point	p1,
		geometry_msgs::Point	p2
	)

private

Calculate the distance between two points.

Parameters

p1	The first point.
p2	The second point.

Returns: The straight line distance between both points.

Definition at line 280 of file mst_path.cpp.

bool mst_path::generate_path ( geometry_msgs::Point start )

Generate all way points for the path.

Parameters

start The current position of the CPS.

Returns: Whether the generation was successful.

Definition at line 7 of file mst_path.cpp.

nav_msgs::Path mst_path::get_path ( )

Get the complete path.

Returns: The path as vector of poses.

Definition at line 101 of file mst_path.cpp.

geometry_msgs::Point mst_path::get_waypoint	(	geometry_msgs::Point	position,
		double	tolerance
	)

Get the current waypoint and possibly select next waypoint, if close enough.

Parameters

position	The current position of the CPS.
tolerance	The distance to the current waypoint below which the next waypoint is selected.

Returns: A waypoint for the CPS to navigate to.

Definition at line 123 of file mst_path.cpp.

geometry_msgs::Point mst_path::get_wp ( int offset = 0 )

private

Get the current way point.

Parameters

offset The index offset to the current waypoint.

Returns: The way point, if a valid offset was given. An empty point otherwise.

Definition at line 285 of file mst_path.cpp.

void mst_path::initialize_graph	(	nav_msgs::OccupancyGrid	gridmap,
		bool	vertical = `false`,
		bool	connect4 = `true`
	)

Initialize the internal graph structure that represents the area division.

Parameters

graph	gridmap The grid map for which the paths are generated.
vertical	Whether the sweeping pattern is vertical or horizontal. Default horizontal.
connect4	Whether only the von Neumann neighborhood is considered. Default true.

Definition at line 139 of file mst_path.cpp.

void mst_path::initialize_map	(	geometry_msgs::Point	origin,
		double	rotation,
		double	width,
		double	height
	)

Initialize properties of the area to be covered.

Parameters

origin	Coordinate of the bottom left point of the area.
rotation	The angle by which the map has been rotated.
width	The width of the area.
height	The height of the area.

Definition at line 201 of file mst_path.cpp.

void mst_path::initialize_tree ( vector< edge > mst )

Remove edges of the graph that overlap with the tree.

Parameters

mst	The edges that define the tree.

Definition at line 216 of file mst_path.cpp.

void mst_path::reduce ( )

Remove waypoints that are within straight line segments of the path. Only keep turning points of the path.

Definition at line 243 of file mst_path.cpp.

void mst_path::remove_edge ( edge e )

private

Remove an edge from the tree graph.

Parameters

e	The edge to remove.

Definition at line 302 of file mst_path.cpp.

bool mst_path::valid ( )

Check whether the current waypoint index is valid.

Returns: True, if the waypoint index is within the limits of the path, false otherwise.

Definition at line 264 of file mst_path.cpp.

Member Data Documentation

unordered_set<edge, hash_edge> mst_path::edges

private

Priority queue of edge objects sorted by cost.

Definition at line 123 of file mst_path.h.

double mst_path::height

private

Height of the area to cover.

Definition at line 158 of file mst_path.h.

nav_msgs::OccupancyGrid mst_path::map

private

The grid map that needs to be covered by the MST path.

Definition at line 133 of file mst_path.h.

vector<unordered_set<int> > mst_path::nodes

private

The sets of connected vertices.

Definition at line 128 of file mst_path.h.

geometry_msgs::Point mst_path::origin

private

Coordinate of the bottom left bounding point of the area.

Definition at line 143 of file mst_path.h.

deque<geometry_msgs::Point> mst_path::path

private

The boustrophedon path.

Definition at line 118 of file mst_path.h.

double mst_path::rotation

private

The rotation of the map.

Definition at line 148 of file mst_path.h.

bool mst_path::vertical

private

Whether the sweeping pattern is vertical or horizontal.

Definition at line 163 of file mst_path.h.

double mst_path::width

private

Width of the area to cover.

Definition at line 153 of file mst_path.h.

int mst_path::wp

private

The current way point.

Definition at line 138 of file mst_path.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation