area_division.h
Go to the documentation of this file.
1 #ifndef AREA_DIVISION_H
2 #define AREA_DIVISION_H
3 
4 #include <ros/ros.h>
5 #include <map>
6 #include <vector>
7 #include <geometry_msgs/Pose.h>
8 #include <geometry_msgs/PoseStamped.h>
9 #include <nav_msgs/OccupancyGrid.h>
10 #include <nav_msgs/GetMap.h>
11 #include <cpswarm_msgs/AreaDivisionEvent.h>
12 #include <swarmros/String.h>
13 #include "lib/area_division.h"
14 
15 using namespace std;
16 using namespace ros;
20 string uuid;
21 
25 Publisher pos_pub;
26 
30 Publisher swarm_pub;
31 
35 Publisher area_pub;
36 
40 Rate* rate;
41 
45 map<string, geometry_msgs::PoseStamped> swarm_pose;
46 
51 
55 geometry_msgs::Pose pose;
56 
61 
65 nav_msgs::OccupancyGrid gridmap;
66 
70 bool map_valid;
71 
76 
81 
85 bool visualize;
86 
91 
96 
97 #endif // AREA_DIVISION_H
Publisher area_pub
Publisher to visualize the assigned area grid map.
Definition: area_division.h:35
bool visualize
Whether to publish the area division on a topic for visualization.
Definition: area_division.h:85
bool swarm_valid
Whether valid position information has been received from the other swarm members.
Definition: area_division.h:50
A class to divide the environment optimally among multiple cyber physical systems (CPSs)...
double swarm_timeout
The time in seconds to wait after an area division event before starting the area division...
Definition: area_division.h:80
bool pose_valid
Whether a valid position has been received.
Definition: area_division.h:60
nav_msgs::OccupancyGrid gridmap
The complete grid map.
Definition: area_division.h:65
geometry_msgs::Pose pose
Current position of the CPS.
Definition: area_division.h:55
Publisher swarm_pub
Publisher to syncronize with other CPSs.
Definition: area_division.h:30
Time sync_start
The time at which the synchronization for the area division started.
Definition: area_division.h:95
area_division * division
The object encapsulating the area division optimization algorithm.
Definition: area_division.h:75
string uuid
UUID of this CPS.
Definition: area_division.h:20
map< string, geometry_msgs::PoseStamped > swarm_pose
The positions of the other swarm members.
Definition: area_division.h:45
Publisher pos_pub
Publisher to stop the CPS.
Definition: area_division.h:25
bool map_valid
Whether a valid grid map has been received.
Definition: area_division.h:70
bool reconfigure
Whether the swarm configuration has changed and the area needs to be divided again.
Definition: area_division.h:90
Rate * rate
ROS rate object for controlling loop rates.
Definition: area_division.h:40


area_division
Author(s): Micha Sende
autogenerated on Thu Oct 31 2019 09:22:46