Closed miyaguchigit closed 1 month ago
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flow chart of the dan's program
flowchart TD A[Start] --> B[Initialize variables: enable_print, cloudPtr, _map_cloud, _map_cloud_roi] B --> C[Convert ROS message to PCL point cloud] C --> D{Is cloudPtr empty?} D -- Yes --> E[Return] D -- No --> F[Calculate update area: estimate_update_area] F --> G[Estimate initial plane: estimate_plane] G --> H[Initialize Plane object with coefficients and update area] H --> I[Declare and publish update area ROS message] I --> J[Initialize QuadtreeNode and set parameters] J --> K[Add child recursively to QuadtreeNode] K --> L[Get all planes from QuadtreeNode] L --> M{Are all_planes size <= 1?} M -- Yes --> N[Return] M -- No --> O[Evaluate traversability] O --> P[Initialize TraversabilityEvaluator] P --> Q[Iterate over all planes] Q --> R[Evaluate traversability of each plane] R --> S[Convert planes to polygons] S --> T[Publish polygons] T --> U[Create and populate all_planes_traversable_grid] U --> V[Iterate over all_planes_traversable_grid] V --> W[Check adjacent planes for traversability] W --> X[Update traversable and untraversable polygons] X --> Y[Create and publish occupancy grid] Y --> Z[Create and publish PointCloud2 messages for traversable and untraversable map clouds] Z --> AA[End]
commit 13af60af2750a6bdb44b891dc38d538c83a451c6 (HEAD -> 59-add-feature-to-estimate-the-road-direction-using-uniform-grid-map-1, origin/59-add-feature-to-estimate-the-road-direction-using-uniform-grid-map-1) Author: miyaguchigit miyaguchimail@gmail.com Date: Wed Jul 24 08:10:53 2024 +0900
This version is shown at the meeting Assoc. Prof.
version : b491df53ae45eb935034a07840c3115afa8164c0