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simple modification of min_distance In consideration of obstacles #33

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simple modification of min_distance In consideration of obstacles #33

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12 changes: 6 additions & 6 deletions explore/src/frontier_search.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,11 @@ std::vector<Frontier> FrontierSearch::searchFrom(geometry_msgs::Point position)
ROS_WARN("Could not find nearby clear cell to start search");
}
visited_flag[bfs.front()] = true;

int distance_cnt = 0;
while (!bfs.empty()) {
unsigned int idx = bfs.front();
bfs.pop();

distance_cnt++;
// iterate over 4-connected neighbourhood
for (unsigned nbr : nhood4(idx, *costmap_)) {
// add to queue all free, unvisited cells, use descending search in case
Expand All @@ -74,7 +74,7 @@ std::vector<Frontier> FrontierSearch::searchFrom(geometry_msgs::Point position)
// neighbour)
} else if (isNewFrontierCell(nbr, frontier_flag)) {
frontier_flag[nbr] = true;
Frontier new_frontier = buildNewFrontier(nbr, pos, frontier_flag);
Frontier new_frontier = buildNewFrontier(nbr, pos, frontier_flag, distance_cnt);
if (new_frontier.size * costmap_->getResolution() >=
min_frontier_size_) {
frontier_list.push_back(new_frontier);
Expand All @@ -96,7 +96,7 @@ std::vector<Frontier> FrontierSearch::searchFrom(geometry_msgs::Point position)

Frontier FrontierSearch::buildNewFrontier(unsigned int initial_cell,
unsigned int reference,
std::vector<bool>& frontier_flag)
std::vector<bool>& frontier_flag, int dist)
{
// initialize frontier structure
Frontier output;
Expand All @@ -119,11 +119,10 @@ Frontier FrontierSearch::buildNewFrontier(unsigned int initial_cell,
double reference_x, reference_y;
costmap_->indexToCells(reference, rx, ry);
costmap_->mapToWorld(rx, ry, reference_x, reference_y);

while (!bfs.empty()) {
unsigned int idx = bfs.front();
bfs.pop();

// try adding cells in 8-connected neighborhood to frontier
for (unsigned int nbr : nhood8(idx, *costmap_)) {
// check if neighbour is a potential frontier cell
Expand Down Expand Up @@ -166,6 +165,7 @@ Frontier FrontierSearch::buildNewFrontier(unsigned int initial_cell,
// average out frontier centroid
output.centroid.x /= output.size;
output.centroid.y /= output.size;
output.min_distance += (double)dist*costmap_->getResolution(); // recover distance
return output;
}

Expand Down