laser_slam: global_map.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef LASER_SLAM_GLOBAL_MAP_H
00040 #define LASER_SLAM_GLOBAL_MAP_H
00041 
00042 #include <pose_graph/constraint_graph.h>
00043 #include <pose_graph/graph_db.h>
00044 #include <laser_slam/LocalizedScan.h>
00045 #include <nav_msgs/OccupancyGrid.h>
00046 #include <sensor_msgs/PointCloud2.h>
00047 
00048 namespace laser_slam
00049 {
00050 
00052 const double PADDING=10.0;
00053 
00054 typedef pose_graph::CachedNodeMap<laser_slam::LocalizedScan> ScanMap;
00055 typedef pose_graph::CachedNodeMap<sensor_msgs::PointCloud2> CloudMap;
00056 
00058 nav_msgs::OccupancyGrid::ConstPtr generateGlobalMap
00059 (const pose_graph::ConstraintGraph& graph, const ScanMap& db,
00060  const double resolution, const std::string& global_frame, bool cleanup_grid,
00061  const pose_graph::NodePoseMap& poses, const double robot_radius);
00062 
00064 sensor_msgs::PointCloud2::ConstPtr generateGlobalCloud
00065 (const pose_graph::ConstraintGraph& graph, const CloudMap& db,
00066  const std::string& global_frame);
00067  
00068 
00069 
00070 
00071 
00072 } // namespace
00073 
00074 #endif // include guard