21 #ifndef _PLUGINS_NAVGRAPH_GENERATOR_NAVGRAPH_GENERATOR_THREAD_H_
22 #define _PLUGINS_NAVGRAPH_GENERATOR_NAVGRAPH_GENERATOR_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/configurable.h>
26 #include <aspect/logging.h>
27 #include <blackboard/interface_listener.h>
28 #include <core/threading/thread.h>
29 #include <interfaces/NavGraphGeneratorInterface.h>
30 #include <navgraph/aspect/navgraph.h>
31 #include <navgraph/navgraph.h>
32 #include <plugins/amcl/map/map.h>
33 #include <utils/math/types.h>
35 #ifdef HAVE_VISUALIZATION
46 #ifdef HAVE_VISUALIZATION
51 #ifdef HAVE_VISUALIZATION
73 std::map<std::string, std::string> properties;
84 typedef std::map<std::string, PointOfInterest> PoiMap;
85 typedef std::map<std::string, fawkes::cart_coord_2d_t> ObstacleMap;
86 typedef std::list<Edge> EdgeList;
91 ObstacleMap map_obstacles(
float line_max_dist);
92 map_t * load_map(std::vector<std::pair<int, int>> &free_space_indices);
94 void filter_edges_from_map(
float max_dist);
95 void filter_nodes_orphans();
96 void filter_multi_graph();
98 #ifdef HAVE_VISUALIZATION
99 void publish_visualization();
103 std::string cfg_global_frame_;
104 unsigned int cfg_map_line_segm_max_iterations_;
105 float cfg_map_line_min_length_;
106 unsigned int cfg_map_line_segm_min_inliers_;
107 float cfg_map_line_cluster_tolerance_;
108 float cfg_map_line_cluster_quota_;
109 bool cfg_visualization_;
111 bool cfg_save_to_file_;
112 std::string cfg_save_filename_;
117 ObstacleMap obstacles_;
118 ObstacleMap map_obstacles_;
121 bool copy_default_properties_;
122 std::map<std::string, std::string> default_properties_;
125 std::map<std::string, std::string> algorithm_params_;
127 std::map<std::string, bool> filter_;
128 std::map<std::string, std::map<std::string, float>> filter_params_float_;
129 std::map<std::string, std::map<std::string, float>> filter_params_float_defaults_;
135 #ifdef HAVE_VISUALIZATION
Thread to perform graph-based path planning.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
NavGraphGeneratorThread()
Constructor.
virtual ~NavGraphGeneratorThread()
Destructor.
virtual void loop()
Code to execute in the thread.
Send Marker messages to rviz to show navgraph-generator info.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
Thread aspect to access configuration data.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to log output.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Thread aspect to access NavGraph.
NavGraphGeneratorInterface Fawkes BlackBoard Interface.
ConnectionMode
Describe how to connect nodes to the graph.
Algorithm
Available generator algorithms.
EdgeMode
When adding edges, the mode defines how to add edges.
Thread class encapsulation of pthreads.
Cartesian coordinates (2D).