def displayProgress(e_array, f_array):
global explored_pub
global frontier_pub
global map
cells = GridCells()
cells.cell_height = map.info.resolution
cells.cell_width = map.info.resolution
cells.header.frame_id = "map"
#publish explored cells
array = []
for i in e_array:
x = (i.x + map.info.width+0.5)*map.info.resolution + map.info.origin.position.x
y = -((i.y+0.5)*map.info.resolution - map.info.origin.position.y)
array.append(Point(x,y,0))
cells.cells = array
explored_pub.publish(cells)
#publish frontier cells
array = []
for i in f_array:
x = (i.x + map.info.width+0.5)*map.info.resolution + map.info.origin.position.x
y = -((i.y+0.5)*map.info.resolution - map.info.origin.position.y)
array.append(Point(x,y,0))
cells.cells = array
frontier_pub.publish(cells)
def displayPath(p_array):
global path_pub
global map
global arrayTravelled
cells = GridCells()
cells.cell_height = map.info.resolution
cells.cell_width = map.info.resolution
cells.header.frame_id = "map"
#publish path cells
array = []
for i in p_array:
x = (i.x + map.info.width+0.5)*map.info.resolution + map.info.origin.position.x
y = -((i.y+0.5)*map.info.resolution - map.info.origin.position.y)
array.append(Point(x,y,0))
cells.cells = array
path_pub.publish(cells)
