#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"
Go to the source code of this file.
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
| spanning_tree 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.