map::mapping
public: +nav_msgs::OccupancyGrid mapping_msg_;
use
robokit::frame::Application
AstarTopicApplication
public: static AstarTopicApplication& GetInstance(); ~AstarTopicApplication() ; private: bool Initialize() override; void OnTerminate() override{}
extends
struct::Node
AstarTopicComponent
private: -std::shared_ptr<robokit::frame::Publisher<astar_topic::mapping_topic>> publisher_mapping_; -std::shared_ptr<robokit::frame::Publisher<astar_topic::astarpath_topic>> publisher_astarpath_; -std::shared_ptr<robokit::frame::Subscriber<astar_topic::startpoint_topic>> subscriber_getstarpoint_; -std::shared_ptr<robokit::frame::Subscriber<astar_topic::goalpoint_topic>> subscriber_getgoalpoint_; -std::unique_ptr<robokit::frame::Timer> publisher_timer_; nav_msgs::Path updatapath_msg_; int startpoint_index_; int goalpoint_index_;
public: + bool Initialize() override; -void SubscriberCallBack_GetStarPoint(const astar_topic::startpoint_topic::MessageConstPtr& msg); -void SubscriberCallBack_GetGoaloint(const astar_topic::goalpoint_topic::MessageConstPtr& msg);
astar::Astar
private: nav_msgs::OccupancyGrid map_occupancy_; std::vector<int> astar_path_vector_; std::list<Node *> openList; std::list<Node *> closeList;
robokit::frame::SingleThreadComponent
