map_loader.h

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#ifndef MAP_LOADER_QANRO76Q
#define MAP_LOADER_QANRO76Q

#include <string>

#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetMapResponse.h>
#include <yaml-cpp/yaml.h>
#include <opencv/cv.h>

namespace bwi_mapper {

  class MapLoader {

    public:
      
      MapLoader (const std::string& fname);

      void drawMap(cv::Mat &image, uint32_t orig_x = 0, uint32_t orig_y = 0);

      void getMapInfo(nav_msgs::MapMetaData& info) const;
      void getMap(nav_msgs::OccupancyGrid& map) const;

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

    protected:

      nav_msgs::GetMap::Response map_resp_;

  }; /* MapLoader */

} /* bwi_mapper */

#endif /* end of include guard: MAP_LOADER_QANRO76Q */