Nodelet class for farm simulation. More...

#include <farm_nodelet.hpp>

Inheritance diagram for mfcpp::FarmNodelet:

Collaboration diagram for mfcpp::FarmNodelet:

Public Member Functions
	FarmNodelet ()

	~FarmNodelet ()

virtual void	onInit ()
	Function called at beginning of nodelet execution. More...

Private Member Functions
void	main_cb (const ros::TimerEvent &timer_event)
	Main callback which is called by a timer. More...

void	reconfigure_cb (mf_farm_simulator::FarmSimulatorConfig &config, uint32_t level)
	Callback for dynamic reconfigure. More...

void	pub_algae ()
	Publishes the position and heatmap of the algae. More...

Initialisation functions
void	init_cb (const ros::TimerEvent &timer_event)
	Callback for the oneshot initialisation timer. More...

void	init_algae_lines ()
	Initialise the algae lines. More...

template<class T >
T	rand_gaussian (T mu, T sigma)
	Draw a random number from a Gaussian distribution. More...

template<class T >
T	rand_uniform (T a, T b)
	Draw a random number from a uniform distribution. More...

bool	rand_bernoulli (double p)
	Draw a random number from a bernoulli distribution. More...

void	init_anchors (AlgaeLine &line, unsigned int i)
	Init anchors of a specific algae line. More...

void	init_ropes (AlgaeLine &line)
	Init ropes of an algae line. More...

void	init_algae (AlgaeLine &line)
	Init algae of an algae line. More...

Visualisation functions
void	pub_rviz_markers (float duration) const
	Displays objects by publishing Rviz markers. More...

void	pop_buoys_marker (visualization_msgs::Marker &marker, MarkerArgs args) const
	Populates a marker for displaying the buoys. More...

void	pop_ropes_marker (visualization_msgs::Marker &marker, MarkerArgs args) const
	Populates a marker for displaying the ropes. More...

void	pop_algae_marker (visualization_msgs::Marker &marker, MarkerArgs args) const
	Populates a marker for displaying the algae. More...

void	pop_algae_heatmaps (visualization_msgs::Marker &marker, MarkerArgs args) const
	Populates a marker for displaying the disease heatmaps. More...

void	pop_img_marker (visualization_msgs::Marker &marker, std::vector< std::vector< float >> img, const std::vector< tf2::Vector3 > &coord) const
	Populates a triangle marker for displaying images. More...

Static Private Member Functions
static void	sigint_handler (int s)
	SINGINT (Ctrl+C) callback to stop the nodelet properly. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler (for topics and services) More...

ros::NodeHandle	private_nh_
	Private node handler (for parameters) More...

dynamic_reconfigure::Server< mf_farm_simulator::FarmSimulatorConfig >	reconf_srv_
	Dynamic reconfigure server. More...

ros::Publisher	rviz_pub_
	ROS publisher for Rviz. More...

ros::Publisher	algae_pub_
	ROS publisher for the algae. More...

std::vector< AlgaeLine >	algae_lines_
	Vector of all the algae in the farm. More...

bool	reconfigure_initialised_
	Whether the dynamic reconfigure callback has been called once. More...

bool	init_done_
	Whether the farm initialisation has been done. More...

std::random_device	random_device_
	Seed initialiser for random number generation. More...

std::mt19937	random_generator_
	Random number initialiser. More...

PerlinNoiseGenerator	perlin_
	For randomising the heatmaps. More...

ROS parameters
float	main_loop_freq_
	Frequency of the main loop. More...

int	random_seed_
	Seed for random numbers (0 for random seed) More...

int	nbr_lines_
	Number of algae lines. More...

float	offset_lines_
	Lateral distance (m) between each line. More...

float	length_lines_
	Length (m) of each line. More...

float	thickness_ropes_
	Diameter (m) of each line. More...

float	depth_lines_
	Distance (m) between water surface and line. More...

float	depth_water_
	Distance (m) between water surface and seafloor. More...

float	anchors_diameter_
	Diameter (m) of the cylindrical anchors. More...

float	anchors_height_
	Height (m) of the cylindrical anchors. More...

int	nbr_buoys_
	Number of buoys on each floating rope. More...

float	buoys_diameter_
	Diameter (m) of each buoy. More...

bool	randomise_lines_
	Whether to randomise the position of each line. More...

float	alga_miss_rate_
	Probability to have a missing alga. More...

float	phi_lines_
	Mean of phi angle for algae line generation. More...

float	theta_lines_
	Mean of theta angle for algae line generation. More...

float	bnd_phi_lines_
	Bound such that phi is sampled in [mean-bnd, mean+bnd]. More...

float	bnd_theta_lines_
	Bound such that theta is sampled in [mean-bnd, mean+bnd]. More...

float	bnd_gamma_lines_
	Bound such that gamma is sampled in [mean-bnd, mean+bnd]. More...

bool	randomise_algae_
	Whether to randomise size and orientation of algae. More...

int	nbr_algae_
	Number of algae per line. More...

float	width_algae_
	Mean of the width of an alga. More...

float	length_algae_
	Mean of the length of an alga. More...

float	thickness_algae_
	Thickness of an alga (for collision detection) More...

float	psi_algae_
	Mean of the algae orientation. More...

float	std_width_algae_
	Standard deviation on algae width. More...

float	std_length_algae_
	Standard deviation on algae length. More...

float	std_psi_algae_
	Standard deviation on algae orientation. More...

bool	disp_disease_
	Whether to display the disease heatmaps. More...

float	disease_ratio_
	Ratio of alga disease (0->fully sane, 1->fully sick) More...

int	height_disease_heatmap_
	Height of the algae disease heatmap. More...

int	width_disease_heatmap_
	Width of the algae disease heatmap. More...

int	height_grid_heatmap_
	Height of the grid for perlin noise generation. More...

int	width_grid_heatmap_

Static Private Attributes
static sig_atomic_t volatile	b_sigint_ = 0
	Whether SIGINT signal has been received. More...

static ros::Timer	init_timer_ = ros::Timer()
	Timer callback for the init function. More...

static ros::Timer	main_timer_ = ros::Timer()
	Timer callback for the main function. More...

Detailed Description

Nodelet class for farm simulation.

Definition at line 31 of file farm_nodelet.hpp.

Constructor & Destructor Documentation

mfcpp::FarmNodelet::FarmNodelet ( )

Definition at line 45 of file farm_nodelet.cpp.

mfcpp::FarmNodelet::~FarmNodelet ( )

Definition at line 46 of file farm_nodelet.cpp.

Member Function Documentation

void mfcpp::FarmNodelet::init_algae ( AlgaeLine & line )

private

Init algae of an algae line.

Parameters

line	Concerned algae line

Definition at line 91 of file farm_initialisation.cpp.

void mfcpp::FarmNodelet::init_algae_lines ( )

private

Initialise the algae lines.

Definition at line 178 of file farm_nodelet.cpp.

void mfcpp::FarmNodelet::init_anchors	(	AlgaeLine &	line,
		unsigned int	i
	)

private

Init anchors of a specific algae line.

Parameters

line	Concerned algae line
i	Index of the algae line

Definition at line 19 of file farm_initialisation.cpp.

void mfcpp::FarmNodelet::init_cb ( const ros::TimerEvent & timer_event )

private

Callback for the oneshot initialisation timer.

Parameters

timer_event Timer event information

Definition at line 171 of file farm_nodelet.cpp.

void mfcpp::FarmNodelet::init_ropes ( AlgaeLine & line )

private

Init ropes of an algae line.

Parameters

line	Concerned algae line

Definition at line 34 of file farm_initialisation.cpp.

void mfcpp::FarmNodelet::main_cb ( const ros::TimerEvent & timer_event )

private

Main callback which is called by a timer.

Parameters

timer_event Timer event information

Definition at line 132 of file farm_nodelet.cpp.

void mfcpp::FarmNodelet::onInit ( )

virtual

Function called at beginning of nodelet execution.

Definition at line 48 of file farm_nodelet.cpp.

void mfcpp::FarmNodelet::pop_algae_heatmaps	(	visualization_msgs::Marker &	marker,
		MarkerArgs	args
	)		const

private

Populates a marker for displaying the disease heatmaps.

Parameters

marker	Marker to populate
args	Common arguments to fill ROS message

Definition at line 193 of file farm_output.cpp.

void mfcpp::FarmNodelet::pop_algae_marker	(	visualization_msgs::Marker &	marker,
		MarkerArgs	args
	)		const

private

Populates a marker for displaying the algae.

Parameters

marker	Marker to populate
args	Common arguments to fill ROS message

Definition at line 141 of file farm_output.cpp.

void mfcpp::FarmNodelet::pop_buoys_marker	(	visualization_msgs::Marker &	marker,
		MarkerArgs	args
	)		const

private

Populates a marker for displaying the buoys.

Parameters

marker	Marker to populate
args	Common arguments to fill ROS message

Definition at line 84 of file farm_output.cpp.

void mfcpp::FarmNodelet::pop_img_marker	(	visualization_msgs::Marker &	marker,
		std::vector< std::vector< float >>	img,
		const std::vector< tf2::Vector3 > &	coord
	)		const

private

Populates a triangle marker for displaying images.

coord[0] | coord[1]

coord[3] | coord[2]

Note: For speed issues, space for the concerned vectors should already be reserved.

Parameters

marker	Marker to populate
img	Black and white image to add to the marker
coord	Four 3D coordinates of the corners of the image

Definition at line 232 of file farm_output.cpp.

void mfcpp::FarmNodelet::pop_ropes_marker	(	visualization_msgs::Marker &	marker,
		MarkerArgs	args
	)		const

private

Populates a marker for displaying the ropes.

Parameters

marker	Marker to populate
args	Common arguments to fill ROS message

Definition at line 105 of file farm_output.cpp.

void mfcpp::FarmNodelet::pub_algae ( )

private

Publishes the position and heatmap of the algae.

Definition at line 281 of file farm_output.cpp.

void mfcpp::FarmNodelet::pub_rviz_markers ( float duration ) const

private

Displays objects by publishing Rviz markers.

Parameters

duration Duration of the marker (in sec)

Definition at line 23 of file farm_output.cpp.

bool mfcpp::FarmNodelet::rand_bernoulli ( double p )

inlineprivate

Draw a random number from a bernoulli distribution.

Parameters

p	Probability to get true

Returns: Random number following a uniform law in [a, b]

Definition at line 284 of file farm_nodelet.hpp.

template<class T >

T mfcpp::FarmNodelet::rand_gaussian	(	T	mu,
		T	sigma
	)

inlineprivate

Draw a random number from a Gaussian distribution.

Parameters

mu	Mean of the distribution
sigma	Standard deviation of the distribution

Returns: Random number following a normal law (mu, sigma)

Definition at line 269 of file farm_nodelet.hpp.

template<class T >

T mfcpp::FarmNodelet::rand_uniform	(	T	a,
		T	b
	)

inlineprivate

Draw a random number from a uniform distribution.

Parameters

a	Lower bound
b	Upper bound

Returns: Random number following a uniform law in [a, b]

Definition at line 277 of file farm_nodelet.hpp.

void mfcpp::FarmNodelet::reconfigure_cb	(	mf_farm_simulator::FarmSimulatorConfig &	config,
		uint32_t	level
	)

private

Callback for dynamic reconfigure.

Parameters

New	configuration
Change	level

Definition at line 153 of file farm_nodelet.cpp.

void mfcpp::FarmNodelet::sigint_handler ( int s )

staticprivate

SINGINT (Ctrl+C) callback to stop the nodelet properly.

Definition at line 144 of file farm_nodelet.cpp.

Member Data Documentation

float mfcpp::FarmNodelet::alga_miss_rate_

private

Probability to have a missing alga.

Definition at line 78 of file farm_nodelet.hpp.

std::vector<AlgaeLine> mfcpp::FarmNodelet::algae_lines_

private

Vector of all the algae in the farm.

Definition at line 54 of file farm_nodelet.hpp.

ros::Publisher mfcpp::FarmNodelet::algae_pub_

private

ROS publisher for the algae.

Definition at line 53 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::anchors_diameter_

private

Diameter (m) of the cylindrical anchors.

Definition at line 72 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::anchors_height_

private

Height (m) of the cylindrical anchors.

Definition at line 73 of file farm_nodelet.hpp.

sig_atomic_t volatile mfcpp::FarmNodelet::b_sigint_ = 0

staticprivate

Whether SIGINT signal has been received.

Definition at line 44 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::bnd_gamma_lines_

private

Bound such that gamma is sampled in [mean-bnd, mean+bnd].

Definition at line 83 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::bnd_phi_lines_

private

Bound such that phi is sampled in [mean-bnd, mean+bnd].

Definition at line 81 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::bnd_theta_lines_

private

Bound such that theta is sampled in [mean-bnd, mean+bnd].

Definition at line 82 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::buoys_diameter_

private

Diameter (m) of each buoy.

Definition at line 75 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::depth_lines_

private

Distance (m) between water surface and line.

Definition at line 70 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::depth_water_

private

Distance (m) between water surface and seafloor.

Definition at line 71 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::disease_ratio_

private

Ratio of alga disease (0->fully sane, 1->fully sick)

Definition at line 96 of file farm_nodelet.hpp.

bool mfcpp::FarmNodelet::disp_disease_

private

Whether to display the disease heatmaps.

Definition at line 95 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::height_disease_heatmap_

private

Height of the algae disease heatmap.

Definition at line 97 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::height_grid_heatmap_

private

Height of the grid for perlin noise generation.

Definition at line 99 of file farm_nodelet.hpp.

bool mfcpp::FarmNodelet::init_done_

private

Whether the farm initialisation has been done.

Definition at line 56 of file farm_nodelet.hpp.

ros::Timer mfcpp::FarmNodelet::init_timer_ = ros::Timer()

staticprivate

Timer callback for the init function.

Definition at line 45 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::length_algae_

private

Mean of the length of an alga.

Definition at line 88 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::length_lines_

private

Length (m) of each line.

Definition at line 68 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::main_loop_freq_

private

Frequency of the main loop.

Definition at line 64 of file farm_nodelet.hpp.

ros::Timer mfcpp::FarmNodelet::main_timer_ = ros::Timer()

staticprivate

Timer callback for the main function.

Definition at line 46 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::nbr_algae_

private

Number of algae per line.

Definition at line 86 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::nbr_buoys_

private

Number of buoys on each floating rope.

Definition at line 74 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::nbr_lines_

private

Number of algae lines.

Definition at line 66 of file farm_nodelet.hpp.

ros::NodeHandle mfcpp::FarmNodelet::nh_

private

Node handler (for topics and services)

Definition at line 49 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::offset_lines_

private

Lateral distance (m) between each line.

Definition at line 67 of file farm_nodelet.hpp.

PerlinNoiseGenerator mfcpp::FarmNodelet::perlin_

private

For randomising the heatmaps.

Definition at line 59 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::phi_lines_

private

Mean of phi angle for algae line generation.

Definition at line 79 of file farm_nodelet.hpp.

ros::NodeHandle mfcpp::FarmNodelet::private_nh_

private

Private node handler (for parameters)

Definition at line 50 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::psi_algae_

private

Mean of the algae orientation.

Definition at line 90 of file farm_nodelet.hpp.

std::random_device mfcpp::FarmNodelet::random_device_

private

Seed initialiser for random number generation.

Definition at line 57 of file farm_nodelet.hpp.

std::mt19937 mfcpp::FarmNodelet::random_generator_

private

Random number initialiser.

Definition at line 58 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::random_seed_

private

Seed for random numbers (0 for random seed)

Definition at line 65 of file farm_nodelet.hpp.

bool mfcpp::FarmNodelet::randomise_algae_

private

Whether to randomise size and orientation of algae.

Definition at line 85 of file farm_nodelet.hpp.

bool mfcpp::FarmNodelet::randomise_lines_

private

Whether to randomise the position of each line.

Definition at line 77 of file farm_nodelet.hpp.

dynamic_reconfigure::Server<mf_farm_simulator::FarmSimulatorConfig> mfcpp::FarmNodelet::reconf_srv_

private

Dynamic reconfigure server.

Definition at line 51 of file farm_nodelet.hpp.

bool mfcpp::FarmNodelet::reconfigure_initialised_

private

Whether the dynamic reconfigure callback has been called once.

Definition at line 55 of file farm_nodelet.hpp.

ros::Publisher mfcpp::FarmNodelet::rviz_pub_

private

ROS publisher for Rviz.

Definition at line 52 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::std_length_algae_

private

Standard deviation on algae length.

Definition at line 92 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::std_psi_algae_

private

Standard deviation on algae orientation.

Definition at line 93 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::std_width_algae_

private

Standard deviation on algae width.

Definition at line 91 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::theta_lines_

private

Mean of theta angle for algae line generation.

Definition at line 80 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::thickness_algae_

private

Thickness of an alga (for collision detection)

Definition at line 89 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::thickness_ropes_

private

Diameter (m) of each line.

Definition at line 69 of file farm_nodelet.hpp.

float mfcpp::FarmNodelet::width_algae_

private

Mean of the width of an alga.

Definition at line 87 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::width_disease_heatmap_

private

Width of the algae disease heatmap.

Definition at line 98 of file farm_nodelet.hpp.

int mfcpp::FarmNodelet::width_grid_heatmap_

private

Width of the grid for perlin noise generation

Definition at line 100 of file farm_nodelet.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_farm_simulator/include/mf_farm_simulator/farm_nodelet.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_farm_simulator/src/mf_farm_simulator/farm_initialisation.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_farm_simulator/src/mf_farm_simulator/farm_nodelet.cpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_farm_simulator/src/mf_farm_simulator/farm_output.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

coord[0] | coord[1]

Member Data Documentation