UML类图

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