map.h

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#ifndef MRPT_BRIDGE_MAP_H
#define MRPT_BRIDGE_MAP_H

#include <stdint.h>
#include <string>

namespace std{
    template <class T> class allocator;
}

namespace std_msgs{
    template <class ContainerAllocator> struct Header_;
    typedef Header_<std::allocator<void> > Header;
}

namespace nav_msgs{
    template <class ContainerAllocator> struct OccupancyGrid_;
    typedef OccupancyGrid_<std::allocator<void> > OccupancyGrid;
}


namespace mrpt
{
namespace slam
{
class COccupancyGridMap2D;
class CMultiMetricMap;
}
namespace utils {
class CConfigFile;
}
}

namespace mrpt_bridge
{

class MapHdl
{
private:
    static MapHdl* instance_; // singeleton instance
#ifdef  OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
    int8_t lut_cellmrpt2ros[0xFF]; // lookup table for entry convertion
    int8_t *lut_cellmrpt2rosPtr;   // pointer to the center of the lookup table neede to work with neg. indexes
#else
    int8_t lut_cellmrpt2ros[0xFFFF]; // lookup table for entry convertion
    int8_t *lut_cellmrpt2rosPtr; // pointer to the center of the lookup table neede to work with neg. indexes
#endif
    int8_t lut_cellros2mrpt[0xFF]; // lookup table for entry convertion
    int8_t *lut_cellros2mrptPtr;   // pointer to the center of the lookup table neede to work with neg. indexes
    MapHdl ( );
    MapHdl ( const MapHdl& );
    ~MapHdl ();
public:
    static MapHdl* instance ();

#ifdef  OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
    const int8_t cellMrpt2Ros(int i){
        return lut_cellmrpt2rosPtr[i];
    }
#else
    const int16_t cellMrpt2Ros(int i){
        return lut_cellmrpt2rosPtr[i];
    }
#endif
    const int8_t cellRos2Mrpt(int i){
        return lut_cellros2mrptPtr[i];
    }
    static const bool loadMap(mrpt::slam::CMultiMetricMap &_metric_map, const mrpt::utils::CConfigFile &_config_file, const std::string &_map_file="map.simplemap", const std::string &_section_name="metricMap", bool _debug = false);

};

bool convert ( const nav_msgs::OccupancyGrid  &src, mrpt::slam::COccupancyGridMap2D  &des );

bool convert (
    const mrpt::slam::COccupancyGridMap2D &src,
    nav_msgs::OccupancyGrid &msg,
    const std_msgs::Header &header);
bool convert (
    const mrpt::slam::COccupancyGridMap2D &src,
    nav_msgs::OccupancyGrid &msg);



}; //namespace mrpt_bridge

#endif //MRPT_BRIDGE_MAP_H