ExplorationPlanner.h

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#ifndef EXPLORATION_PLANNER_H
#define EXPLORATION_PLANNER_H
 
#define EXPL_TARGET_SET 1
#define EXPL_FINISHED   2
#define EXPL_WAITING    3
#define EXPL_FAILED     4
 
#include <string>
#include <tf/transform_listener.h>
#include <nav2d_msgs/RobotPose.h>
 
#include <nav2d_navigator/GridMap.h>
 
// A list of all other robots, that will subscribe to the other robots topic and update itself
typedef std::map<unsigned int, geometry_msgs::Pose2D> PoseList;
 
class RobotList
{
public:
        RobotList()
        {
                ros::NodeHandle robotNode;
                mOtherRobotsSubscriber = robotNode.subscribe("others", 10, &RobotList::receiveOtherPose, this);
        }
        
        void receiveOtherPose(const nav2d_msgs::RobotPose::ConstPtr& msg)
        {
                mOtherRobots[msg->robot_id] = msg->pose;
        }
        
        PoseList getRobots() { return mOtherRobots; }
        
private:
        ros::Subscriber mOtherRobotsSubscriber;
        PoseList mOtherRobots;
};
 
// The base class for all exploration planners
class ExplorationPlanner
{
public:
        virtual ~ExplorationPlanner() {};
        virtual int findExplorationTarget(GridMap* map, unsigned int start, unsigned int &goal) = 0;
        
};
 
#endif