A class for visualizing the hybrid A* search. More...

#include <visualize.h>

Public Member Functions
	Visualize ()
	The default constructor initializing the visualization object and setting publishers for the same.

void	clear ()
	Clears the entire visualization.

void	clear2D ()
	Clears the 2D visualization.

void	publishNode3DPose (Node3D &node)
	Publishes a single node to RViz, usually the one currently being expanded.

void	publishNode3DPoses (Node3D &node)
	Publishes all expanded nodes to RViz.

void	publishNode3DCosts (Node3D *nodes, int width, int height, int depth)
	Publishes the minimum of the cost of all nodes in a 2D grid cell.

void	publishNode2DPose (Node2D &node)
	Publishes a single node to RViz, usually the one currently being expanded.

void	publishNode2DPoses (Node2D &node)
	Publishes all expanded nodes to RViz.

void	publishNode2DCosts (Node2D *nodes, int width, int height)
	Publishes the minimum of the cost of all nodes in a 2D grid cell.

Private Attributes
ros::NodeHandle	n
	A handle to the ROS node.

ros::Publisher	pubNode3D
	Publisher for a single 3D node.

ros::Publisher	pubNodes3D
	Publisher for an array of 3D forward nodes.

ros::Publisher	pubNodes3Dreverse
	Publisher for an array of 3D reaward nodes.

ros::Publisher	pubNodes3DCosts
	Publisher for an array of 3D cost with color gradient.

ros::Publisher	pubNode2D
	Publisher for a single 2D node.

ros::Publisher	pubNodes2D
	Publisher for an array of 2D nodes.

ros::Publisher	pubNodes2DCosts
	Publisher for an array of 2D cost with color gradient.

geometry_msgs::PoseArray	poses3D
	Array of poses describing forward nodes.

geometry_msgs::PoseArray	poses3Dreverse
	Array of poses describing reaward nodes.

geometry_msgs::PoseArray	poses2D
	Array of poses describing 2D heuristic nodes.

Detailed Description

A class for visualizing the hybrid A* search.

Depending on the settings in constants.h the visualization will send different amounts of detail. It can show the 3D search as well as the underlying 2D search used for the holonomic with obstacles heuristic.

The documentation for this class was generated from the following files:

include/visualize.h
src/visualize.cpp

Public Member Functions

Private Attributes

Detailed Description