FrontierExplorer< T > Class Template Reference

Generic exploration and frontier-based SLAM utility for grid or occupancy maps. More...

#include <FrontierExplorer.h>

Inheritance diagram for FrontierExplorer< T >:

Collaboration diagram for FrontierExplorer< T >:

Public Member Functions
	FrontierExplorer (IMap< T > &map)
	Construct a FrontierExplorer with a given map (by reference).
void	setCurrentPosition (const Coordinate< T > &pos)
	Set the current position of the explorer.
Coordinate< T >	getCurrentPosition () const
	Get the current position of the explorer.
void	setStrategy (FrontierSelectionStrategy strategy)
	Set the strategy for selecting the next frontier cell.
FrontierSelectionStrategy	getStrategy () const
	Get the current frontier selection strategy.
bool	getNextFrontier (Coordinate< T > &nextCell)
	Provides the next frontier cell to explore based on the current strategy.
size_t	size () const
	Provides the number of potential frontier cells found in the last search.
virtual void	setCurrentPosition (const Coordinate< T > &pos)=0
virtual Coordinate< T >	getCurrentPosition () const =0
virtual bool	getNextFrontier (Coordinate< T > &nextCell)=0

Protected Member Functions
bool	selectRandom (Coordinate< T > &nextCell)
bool	selectNearest (Coordinate< T > &nextCell)
bool	selectFarthest (Coordinate< T > &nextCell)
bool	selectFirst (Coordinate< T > &nextCell)
bool	selectLast (Coordinate< T > &nextCell)
bool	selectCustom (Coordinate< T > &nextCell)
void	setSelectCallback (int(*cb)(std::vector< Coordinate< T > > &frontiers, void *ref), void *ref=nullptr)
	Set a custom callback for selecting the next frontier cell. You can implement your own optimization strategy here.
void	collectFrontiers ()
	Find all frontier cells in the map (cells adjacent to unknown space).

Protected Attributes
Coordinate< T >	current_pos {}
FrontierSelectionStrategy	strategy_ = FrontierSelectionStrategy::RANDOM
bool	switchFirstLast = false
size_t	record_count_ = 0
IMap< T > &	map_
std::vector< Coordinate< T > >	frontiers
void *	ref = this
int(*	select_callback )(std::vector< Coordinate< T > > &frontiers, void *ref) = nullptr

Detailed Description

template<typename T = DistanceM>
class tinyrobotics::FrontierExplorer< T >

Generic exploration and frontier-based SLAM utility for grid or occupancy maps.

Implements IFrontierExplorer for flexible autonomous exploration.

Template Parameters

T	Scalar type for coordinates and map (e.g., float, DistanceM). Default: DistanceM.

Constructor & Destructor Documentation

FrontierExplorer()

FrontierExplorer ( IMap< T > &  map )

inline

Construct a FrontierExplorer with a given map (by reference).

Parameters

map	The map to explore (must outlive this object).

Member Function Documentation

collectFrontiers()

void collectFrontiers ( )

inlineprotected

Find all frontier cells in the map (cells adjacent to unknown space).

A frontier cell is defined as a cell that is FREE (traversable) and has at least one neighboring cell (in any of the 8 directions) that is UNKNOWN (unexplored). This method iterates over every cell in the map, and for each FREE cell, checks all 8 neighbors. If any neighbor is UNKNOWN, the cell is added to the internal frontiers vector. Each cell is considered only once, so no duplicates occur.

This is a key step in frontier-based exploration and SLAM, as it identifies the boundary between explored and unexplored space, guiding the robot to new areas.

After calling this method, the frontiers vector will contain all current frontier coordinates, which can then be used by the exploration strategy to select the next goal.

getCurrentPosition()

Coordinate< T > getCurrentPosition ( ) const

inlinevirtual

Get the current position of the explorer.

Returns

The current position.

Implements IFrontierExplorer< T >.

getNextFrontier()

bool getNextFrontier ( Coordinate< T > &  nextCell )

inlinevirtual

Provides the next frontier cell to explore based on the current strategy.

Parameters

nextCell

Output parameter for the selected frontier cell.

Returns

true if a frontier was found, false otherwise.

Implements IFrontierExplorer< T >.

getStrategy()

FrontierSelectionStrategy getStrategy ( ) const

inline

Get the current frontier selection strategy.

Returns

The current strategy.

setCurrentPosition()

void setCurrentPosition ( const Coordinate< T > &  pos )

inlinevirtual

Set the current position of the explorer.

Parameters

pos	The current position.

Implements IFrontierExplorer< T >.

setSelectCallback()

void setSelectCallback ( int(*)(std::vector< Coordinate< T > > &frontiers, void *ref)  cb, void *  ref = nullptr  )

inlineprotected

Set a custom callback for selecting the next frontier cell. You can implement your own optimization strategy here.

Parameters

cb	The callback function (returns index of selected cell).

setStrategy()

void setStrategy ( FrontierSelectionStrategy  strategy )

inline

Set the strategy for selecting the next frontier cell.

Parameters

strategy

The selection strategy to use.

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

• src/TinyRobotics/planning/FrontierExplorer.h