coverage_path.h

Go to the documentation of this file.

#ifndef COVERAGE_PATH_H
#define COVERAGE_PATH_H

#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"

using namespace std;
using namespace ros;

Publisher path_publisher;

Publisher wp_publisher;

ServiceClient map_getter;

geometry_msgs::Pose pose;

bool pose_valid;

string state;

bool state_valid;

map<string, Time> swarm;

bool swarm_valid;

nav_msgs::OccupancyGrid gridmap;

spanning_tree tree;

mst_path path;

double swarm_timeout;

bool visualize;

bool reconfigure;

#endif // COVERAGE_PATH_H