global_map.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef GRAPH_SLAM_GLOBAL_MAP_H
#define GRAPH_SLAM_GLOBAL_MAP_H

#include <pose_graph/pose_graph.h>
#include <nav_msgs/OccupancyGrid.h>

namespace graph_slam
{

const double PADDING=10.0;

nav_msgs::OccupancyGrid::Ptr generateGlobalMap (const pose_graph::PoseGraph& graph,
                                                const pose_graph::NodePoseMap& opt_poses,
                                                const double resolution);

} // namespace

#endif // include guard