ergodic_exploration::Exploration< ModelT > Class Template Reference

Exploration template. More...

#include <exploration.hpp>

Public Member Functions
void	control (const Target &target, const std::string &map_frame_id, const std::string &base_frame_id, double frequency, double val_dt, double val_horizon)
	Executes the exploration stack. More...
	Exploration (ros::NodeHandle &nh, const ErgodicControl< ModelT > &ergodic_control, const Collision &collision, const DynamicWindow &dwa)
	Constructor. More...
void	init ()
	Initialize subscribers and publishers. More...
void	mapCallback (const nav_msgs::OccupancyGrid::ConstPtr &msg)
	Occupancy grid callback. More...
void	odomCallback (const nav_msgs::Odometry &msg)
	Odometry callback. More...

Private Attributes
ros::Publisher	cmd_pub_
Collision	collision_
DynamicWindow	dwa_
ros::Publisher	dwa_path_pub_
ErgodicControl< ModelT >	ergodic_control_
GridMap	grid_
bool	map_received_
ros::Subscriber	map_sub_
ros::NodeHandle	nh_
ros::Subscriber	odom_sub_
ros::Publisher	opt_traj_pub_
ros::Publisher	target_pub_
tf2_ros::Buffer	tfBuffer_
tf2_ros::TransformListener	tfListener_
vec	vb_

Detailed Description

template<class ModelT>
class ergodic_exploration::Exploration< ModelT >

Exploration template.

Definition at line 66 of file exploration.hpp.

Constructor & Destructor Documentation

Exploration()

template<class ModelT >

ergodic_exploration::Exploration< ModelT >::Exploration	(	ros::NodeHandle &	nh,
		const ErgodicControl< ModelT > &	ergodic_control,
		const Collision &	collision,
		const DynamicWindow &	dwa
	)

Constructor.

Parameters

nh	- NodeHandle
ergodic_control	- ergodic controller
collision	- collision detector
dwa	- dynamic window local planner

Definition at line 134 of file exploration.hpp.

Member Function Documentation

control()

template<class ModelT >

void ergodic_exploration::Exploration< ModelT >::control	(	const Target &	target,
		const std::string &	map_frame_id,
		const std::string &	base_frame_id,
		double	frequency,
		double	val_dt,
		double	val_horizon
	)

Executes the exploration stack.

Parameters

target	- target distribution
map_frame_id	- map frame
base_frame_id	- robot's base link frame
frequency	- control loop frequency
dt	- time step in integration
horizon	- length of integration

publishes a body twist at a fixed frequency

Definition at line 177 of file exploration.hpp.

init()

template<class ModelT >

void ergodic_exploration::Exploration< ModelT >::init

Initialize subscribers and publishers.

Definition at line 149 of file exploration.hpp.

mapCallback()

template<class ModelT >

void ergodic_exploration::Exploration< ModelT >::mapCallback

(

const nav_msgs::OccupancyGrid::ConstPtr &

msg

)

Occupancy grid callback.

Parameters

msg	- occupancy grid message

Definition at line 169 of file exploration.hpp.

odomCallback()

template<class ModelT >

void ergodic_exploration::Exploration< ModelT >::odomCallback

(

const nav_msgs::Odometry &

msg

)

Odometry callback.

Parameters

msg	- odometry message

updates the robot's twist in the body frame [vx, vy, w]

Definition at line 161 of file exploration.hpp.

Member Data Documentation

cmd_pub_

template<class ModelT >

ros::Publisher ergodic_exploration::Exploration< ModelT >::cmd_pub_

private

Definition at line 127 of file exploration.hpp.

collision_

template<class ModelT >

Collision ergodic_exploration::Exploration< ModelT >::collision_

private

Definition at line 113 of file exploration.hpp.

dwa_

template<class ModelT >

DynamicWindow ergodic_exploration::Exploration< ModelT >::dwa_

private

Definition at line 114 of file exploration.hpp.

dwa_path_pub_

template<class ModelT >

ros::Publisher ergodic_exploration::Exploration< ModelT >::dwa_path_pub_

private

Definition at line 129 of file exploration.hpp.

ergodic_control_

template<class ModelT >

ErgodicControl<ModelT> ergodic_exploration::Exploration< ModelT >::ergodic_control_

private

Definition at line 112 of file exploration.hpp.

grid_

template<class ModelT >

GridMap ergodic_exploration::Exploration< ModelT >::grid_

private

Definition at line 119 of file exploration.hpp.

map_received_

template<class ModelT >

bool ergodic_exploration::Exploration< ModelT >::map_received_

private

Definition at line 116 of file exploration.hpp.

map_sub_

template<class ModelT >

ros::Subscriber ergodic_exploration::Exploration< ModelT >::map_sub_

private

Definition at line 124 of file exploration.hpp.

nh_

template<class ModelT >

ros::NodeHandle ergodic_exploration::Exploration< ModelT >::nh_

private

Definition at line 110 of file exploration.hpp.

odom_sub_

template<class ModelT >

ros::Subscriber ergodic_exploration::Exploration< ModelT >::odom_sub_

private

Definition at line 125 of file exploration.hpp.

opt_traj_pub_

template<class ModelT >

ros::Publisher ergodic_exploration::Exploration< ModelT >::opt_traj_pub_

private

Definition at line 128 of file exploration.hpp.

target_pub_

template<class ModelT >

ros::Publisher ergodic_exploration::Exploration< ModelT >::target_pub_

private

Definition at line 130 of file exploration.hpp.

tfBuffer_

template<class ModelT >

tf2_ros::Buffer ergodic_exploration::Exploration< ModelT >::tfBuffer_

private

Definition at line 121 of file exploration.hpp.

tfListener_

template<class ModelT >

tf2_ros::TransformListener ergodic_exploration::Exploration< ModelT >::tfListener_

private

Definition at line 122 of file exploration.hpp.

vb_

template<class ModelT >

vec ergodic_exploration::Exploration< ModelT >::vb_

private

Definition at line 118 of file exploration.hpp.

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

• exploration.hpp