Base class for reading a standard ROS map from a YAML file and writing it to an OpenCV Image. More...

#include <map_loader.h>

Inheritance diagram for bwi_mapper::MapLoader:

Public Member Functions
void	drawMap (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0)
	Draw map_resp_ onto image starting at (orig_x, orig_y). Uses the overloaded drawMap internally.
void	drawMap (cv::Mat &image, const nav_msgs::OccupancyGrid &map, uint32_t orig_x=0, uint32_t orig_y=0)
	Draw map onto image starting at (orig_x, orig_y)
void	getMap (nav_msgs::OccupancyGrid &map) const
void	getMapInfo (nav_msgs::MapMetaData &info) const
	MapLoader (const std::string &fname)
	Constructor. Initializes map_resp_ with the given file.
Protected Attributes
nav_msgs::GetMap::Response	map_resp_

Detailed Description

Base class for reading a standard ROS map from a YAML file and writing it to an OpenCV Image.

Definition at line 57 of file map_loader.h.

Constructor & Destructor Documentation

bwi_mapper::MapLoader::MapLoader ( const std::string & fname )

Constructor. Initializes map_resp_ with the given file.

Parameters:

fname absolute or relative system file location for the YAML file

Definition at line 64 of file map_loader.cpp.

void bwi_mapper::MapLoader::drawMap	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

Draw map_resp_ onto image starting at (orig_x, orig_y). Uses the overloaded drawMap internally.

Parameters:

image OpenCV image we are writing the map onto

Definition at line 156 of file map_loader.cpp.

void bwi_mapper::MapLoader::drawMap	(	cv::Mat &	image,
		const nav_msgs::OccupancyGrid &	map,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

Draw map onto image starting at (orig_x, orig_y)

Parameters:

image OpenCV image we are writing the map onto

Definition at line 171 of file map_loader.cpp.

void bwi_mapper::MapLoader::getMap ( nav_msgs::OccupancyGrid & map ) const

Definition at line 164 of file map_loader.cpp.

void bwi_mapper::MapLoader::getMapInfo ( nav_msgs::MapMetaData & info ) const

Definition at line 160 of file map_loader.cpp.

nav_msgs::GetMap::Response bwi_mapper::MapLoader::map_resp_ [protected]

/brief The base map being loaded by MapLoader. GetMap::Response is used to reuse code from map_server

Definition at line 89 of file map_loader.h.

The documentation for this class was generated from the following files: