Program Listing for File ros_map_writing_points_processor.h
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/*
* 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