#include "area_division.h"
Go to the source code of this file.
Functions | |
| void | divide_area () |
| Divide the area of the grid map equally among multiple CPSs. More... | |
| bool | get_area (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res) |
| Callback function to get the area assignment of this CPS. More... | |
| int | main (int argc, char **argv) |
| A ROS node that divides the available area among a swarm of CPSs. More... | |
| void | map_callback (const nav_msgs::OccupancyGrid::ConstPtr &msg) |
| Callback function to receive the grid map. More... | |
| void | pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg) |
| Callback function for position updates. More... | |
| void | swarm_callback (const cpswarm_msgs::AreaDivisionEvent::ConstPtr &msg) |
| Callback function to receive area division requests from other CPSs. More... | |
| void | sync () |
| Synchronize The CPSs by exchanging an event. More... | |
| void | uuid_callback (const swarmros::String::ConstPtr &msg) |
| Callback function to receive the UUID from the communication library. More... | |
Function Documentation
◆ divide_area()
| void divide_area | ( | ) |
Divide the area of the grid map equally among multiple CPSs.
Definition at line 6 of file area_division.cpp.
◆ get_area()
| bool get_area | ( | nav_msgs::GetMap::Request & | req, |
| nav_msgs::GetMap::Response & | res | ||
| ) |
Callback function to get the area assignment of this CPS.
- Parameters
-
req Empty request. res The grid map assigned to this CPS.
- Returns
- Whether the request succeeded.
Definition at line 76 of file area_division.cpp.
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
A ROS node that divides the available area among a swarm of CPSs.
- Parameters
-
argc Number of command line arguments. argv Array of command line arguments.
- Returns
- Success.
Definition at line 172 of file area_division.cpp.
◆ map_callback()
| void map_callback | ( | const nav_msgs::OccupancyGrid::ConstPtr & | msg | ) |
Callback function to receive the grid map.
- Parameters
-
msg Merged grid map from all CPSs.
Definition at line 159 of file area_division.cpp.
◆ pose_callback()
| void pose_callback | ( | const geometry_msgs::PoseStamped::ConstPtr & | msg | ) |
Callback function for position updates.
- Parameters
-
msg Position received from the CPS.
Definition at line 112 of file area_division.cpp.
◆ swarm_callback()
| void swarm_callback | ( | const cpswarm_msgs::AreaDivisionEvent::ConstPtr & | msg | ) |
Callback function to receive area division requests from other CPSs.
- Parameters
-
msg UUIDs and position of the other CPS.
Definition at line 126 of file area_division.cpp.
◆ sync()
| void sync | ( | ) |
Synchronize The CPSs by exchanging an event.
Definition at line 42 of file area_division.cpp.
◆ uuid_callback()
| void uuid_callback | ( | const swarmros::String::ConstPtr & | msg | ) |
Callback function to receive the UUID from the communication library.
- Parameters
-
msg UUID of this node.
Definition at line 103 of file area_division.cpp.