Variables
coverage_path.h File Reference
#include <ros/ros.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
#include <nav_msgs/Path.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetPlan.h>
#include <cpswarm_msgs/GetWaypoint.h>
#include <cpswarm_msgs/ArrayOfStates.h>
#include <cpswarm_msgs/StateEvent.h>
#include "lib/spanning_tree.h"
#include "lib/mst_path.h"
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Variables

nav_msgs::OccupancyGrid gridmap
 The grid map representing the environment to be covered. More...
 
ServiceClient map_getter
 Service client to get the assigned area. More...
 
mst_path path
 The coverage path. More...
 
Publisher path_publisher
 Publisher to visualize the coverage path. More...
 
geometry_msgs::Pose pose
 Current position of the CPS. More...
 
bool pose_valid
 Whether a valid position has been received. More...
 
bool reconfigure
 Whether the swarm configuration has changed which requires a replanning of the path. More...
 
string state
 Current state of the CPS. More...
 
bool state_valid
 Whether a valid state has been received. More...
 
map< string, Time > swarm
 The UUIDs of the other swarm members. More...
 
double swarm_timeout
 Time in seconds after which it is assumed that a swarm member has left the swarm if no position update has been received. More...
 
bool swarm_valid
 Whether valid swarm information has been received. More...
 
spanning_tree tree
 The minimum-spanning-tree (MST) that defines the coverage path. More...
 
bool visualize
 Whether to publish the coverage path on a topic for visualization. More...
 
Publisher wp_publisher
 Publisher to visualize the current waypoint. More...
 

Variable Documentation

◆ gridmap

nav_msgs::OccupancyGrid gridmap

The grid map representing the environment to be covered.

Definition at line 69 of file coverage_path.h.

◆ map_getter

ServiceClient map_getter

Service client to get the assigned area.

Definition at line 34 of file coverage_path.h.

◆ path

mst_path path

The coverage path.

Definition at line 79 of file coverage_path.h.

◆ path_publisher

Publisher path_publisher

Publisher to visualize the coverage path.

Definition at line 24 of file coverage_path.h.

◆ pose

geometry_msgs::Pose pose

Current position of the CPS.

Definition at line 39 of file coverage_path.h.

◆ pose_valid

bool pose_valid

Whether a valid position has been received.

Definition at line 44 of file coverage_path.h.

◆ reconfigure

bool reconfigure

Whether the swarm configuration has changed which requires a replanning of the path.

Definition at line 94 of file coverage_path.h.

◆ state

string state

Current state of the CPS.

Definition at line 49 of file coverage_path.h.

◆ state_valid

bool state_valid

Whether a valid state has been received.

Definition at line 54 of file coverage_path.h.

◆ swarm

map<string, Time> swarm

The UUIDs of the other swarm members.

Definition at line 59 of file coverage_path.h.

◆ swarm_timeout

double swarm_timeout

Time in seconds after which it is assumed that a swarm member has left the swarm if no position update has been received.

Definition at line 84 of file coverage_path.h.

◆ swarm_valid

bool swarm_valid

Whether valid swarm information has been received.

Definition at line 64 of file coverage_path.h.

◆ tree

The minimum-spanning-tree (MST) that defines the coverage path.

Definition at line 74 of file coverage_path.h.

◆ visualize

bool visualize

Whether to publish the coverage path on a topic for visualization.

Definition at line 89 of file coverage_path.h.

◆ wp_publisher

Publisher wp_publisher

Publisher to visualize the current waypoint.

Definition at line 29 of file coverage_path.h.



coverage_path
Author(s): Micha Sende
autogenerated on Thu Oct 31 2019 10:37:31