#include "coverage_path.h"
Include dependency graph for coverage_path.cpp:
Go to the source code of this file.
Functions | |
| bool | generate_path () |
| Generate an optimal coverage path for a given area. More... | |
| bool | get_path (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res) |
| Callback function to get the coverage path. More... | |
| bool | get_waypoint (cpswarm_msgs::GetWaypoint::Request &req, cpswarm_msgs::GetWaypoint::Response &res) |
| Callback function to get the current waypoint of the path. More... | |
| int | main (int argc, char **argv) |
| A ROS node that computes the optimal paths for area coverage with a swarm of CPSs. More... | |
| void | pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg) |
| Callback function for position updates. More... | |
| void | state_callback (const cpswarm_msgs::StateEvent::ConstPtr &msg) |
| Callback function for state updates. More... | |
| void | swarm_callback (const cpswarm_msgs::ArrayOfStates::ConstPtr &msg) |
| Callback function to receive the states of the other CPSs. More... | |
Function Documentation
◆ generate_path()
| bool generate_path | ( | ) |
Generate an optimal coverage path for a given area.
- Returns
- Whether the path has been generated successfully.
Definition at line 7 of file coverage_path.cpp.
◆ get_path()
| bool get_path | ( | nav_msgs::GetPlan::Request & | req, |
| nav_msgs::GetPlan::Response & | res | ||
| ) |
Callback function to get the coverage path.
- Parameters
-
req Path planning request that is ignored. res The coverage path.
- Returns
- Whether the request succeeded.
Definition at line 44 of file coverage_path.cpp.
◆ get_waypoint()
| bool get_waypoint | ( | cpswarm_msgs::GetWaypoint::Request & | req, |
| cpswarm_msgs::GetWaypoint::Response & | res | ||
| ) |
Callback function to get the current waypoint of the path.
- Parameters
-
req Empty get waypoint request. res The current waypoint.
- Returns
- Whether the request succeeded.
Definition at line 64 of file coverage_path.cpp.
◆ main()
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
A ROS node that computes the optimal paths for area coverage with a swarm of CPSs.
- Parameters
-
argc Number of command line arguments. argv Array of command line arguments.
- Returns
- Success.
Definition at line 169 of file coverage_path.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 92 of file coverage_path.cpp.
◆ state_callback()
| void state_callback | ( | const cpswarm_msgs::StateEvent::ConstPtr & | msg | ) |
Callback function for state updates.
- Parameters
-
msg State received from the CPS.
Definition at line 106 of file coverage_path.cpp.
◆ swarm_callback()
| void swarm_callback | ( | const cpswarm_msgs::ArrayOfStates::ConstPtr & | msg | ) |
Callback function to receive the states of the other CPSs.
- Parameters
-
msg UUIDs and states of the other CPSs.
Definition at line 120 of file coverage_path.cpp.