mst_path Class Reference

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

#include <mst_path.h>

Public Member Functions
void	generate_path (geometry_msgs::Point)
	Generate all way points for the path. More...
geometry_msgs::PoseArray	get_grid ()
	Get the graph generated from the grid map. 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 connect4=true)
	Initialize the internal graph structure that represents the area division. More...
void	initialize_tree (vector< edge > mst)
	Remove edges of the graph that overlap with the tree. More...
	mst_path ()
	Constructor. 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...
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...
deque< geometry_msgs::Point >	path
	The boustrophedon path. 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 21 of file mst_path.h.

Constructor & Destructor Documentation

mst_path()

mst_path::mst_path

(

)

Constructor.

Definition at line 3 of file mst_path.cpp.

Member Function Documentation

add_edge()

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 240 of file mst_path.cpp.

dist()

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 251 of file mst_path.cpp.

generate_path()

void mst_path::generate_path

(

geometry_msgs::Point

start

)

Generate all way points for the path.

Parameters

start

The current position of the CPS.

Definition at line 7 of file mst_path.cpp.

get_grid()

geometry_msgs::PoseArray mst_path::get_grid

(

)

Get the graph generated from the grid map.

Returns

An array of poses representing the vertices of the grid.

Definition at line 97 of file mst_path.cpp.

get_path()

nav_msgs::Path mst_path::get_path

(

)

Get the complete path.

Returns

The path as vector of poses.

Definition at line 126 of file mst_path.cpp.

get_waypoint()

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 141 of file mst_path.cpp.

get_wp()

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 256 of file mst_path.cpp.

initialize_graph()

void mst_path::initialize_graph	(	nav_msgs::OccupancyGrid	gridmap,
		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.
connect4	Whether only the von Neumann neighborhood is considered. Default true.

Definition at line 152 of file mst_path.cpp.

initialize_tree()

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 209 of file mst_path.cpp.

remove_edge()

void mst_path::remove_edge ( edge  e )

private

Remove an edge from the tree graph.

Parameters

e	The edge to remove.

Definition at line 267 of file mst_path.cpp.

valid()

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 235 of file mst_path.cpp.

Member Data Documentation

edges

unordered_set<edge, hash_edge> mst_path::edges

private

Priority queue of edge objects sorted by cost.

Definition at line 112 of file mst_path.h.

map

nav_msgs::OccupancyGrid mst_path::map

private

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

Definition at line 122 of file mst_path.h.

nodes

vector<unordered_set<int> > mst_path::nodes

private

The sets of connected vertices.

Definition at line 117 of file mst_path.h.

path

deque<geometry_msgs::Point> mst_path::path

private

The boustrophedon path.

Definition at line 107 of file mst_path.h.

wp

int mst_path::wp

private

The current way point.

Definition at line 127 of file mst_path.h.

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

• mst_path.h
• mst_path.cpp