.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_ros_map_writing_points_processor.h:

Program Listing for File ros_map_writing_points_processor.h
===========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_ros_map_writing_points_processor.h>` (``/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/ros_map_writing_points_processor.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2016 The Cartographer Authors
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *      http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    */
   
   #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_WRITING_POINTS_PROCESSOR_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_WRITING_POINTS_PROCESSOR_H
   
   #include "cartographer/common/lua_parameter_dictionary.h"
   #include "cartographer/io/file_writer.h"
   #include "cartographer/io/points_processor.h"
   #include "cartographer/mapping/2d/probability_grid.h"
   #include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
   #include "cartographer/mapping/proto/probability_grid_range_data_inserter_options_2d.pb.h"
   #include "cartographer/mapping/value_conversion_tables.h"
   
   namespace cartographer_ros {
   
   // Very similar to Cartographer's ProbabilityGridPointsProcessor, but writes
   // out a PGM and YAML suitable for ROS map server to consume.
   class RosMapWritingPointsProcessor
       : public ::cartographer::io::PointsProcessor {
    public:
     constexpr static const char* kConfigurationFileActionName = "write_ros_map";
     RosMapWritingPointsProcessor(
         double resolution,
         const ::cartographer::mapping::proto::
             ProbabilityGridRangeDataInserterOptions2D&
                 range_data_inserter_options,
         ::cartographer::io::FileWriterFactory file_writer_factory,
         const std::string& filestem, PointsProcessor* next);
     RosMapWritingPointsProcessor(const RosMapWritingPointsProcessor&) = delete;
     RosMapWritingPointsProcessor& operator=(const RosMapWritingPointsProcessor&) =
         delete;
   
     static std::unique_ptr<RosMapWritingPointsProcessor> FromDictionary(
         ::cartographer::io::FileWriterFactory file_writer_factory,
         ::cartographer::common::LuaParameterDictionary* dictionary,
         PointsProcessor* next);
   
     ~RosMapWritingPointsProcessor() override {}
   
     void Process(std::unique_ptr<::cartographer::io::PointsBatch> batch) override;
     FlushResult Flush() override;
   
    private:
     const std::string filestem_;
     PointsProcessor* const next_;
     ::cartographer::io::FileWriterFactory file_writer_factory_;
     ::cartographer::mapping::ProbabilityGridRangeDataInserter2D
         range_data_inserter_;
     ::cartographer::mapping::ValueConversionTables conversion_tables_;
     ::cartographer::mapping::ProbabilityGrid probability_grid_;
   };
   
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_WRITING_POINTS_PROCESSOR_H