00001 #ifndef BWI_PLANNING_COMMON_UTILS_H_ 00002 #define BWI_PLANNING_COMMON_UTILS_H_ 00003 00004 #include <string> 00005 00006 namespace bwi_planning_common { 00007 00008 inline std::string getDoorsFileLocationFromDataDirectory(const std::string& data_directory) { 00009 return data_directory + "/doors.yaml"; 00010 } 00011 00012 inline std::string getDoorsMapLocationFromDataDirectory(const std::string& data_directory) { 00013 return data_directory + "/doors_map.yaml"; 00014 } 00015 00016 inline std::string getDoorsMapImageLocationFromDataDirectory(const std::string& data_directory) { 00017 return data_directory + "/doors_map.pgm"; 00018 } 00019 00020 inline std::string getLocationsFileLocationFromDataDirectory(const std::string& data_directory) { 00021 return data_directory + "/locations.yaml"; 00022 } 00023 00024 inline std::string getObjectsFileLocationFromDataDirectory(const std::string& data_directory) { 00025 return data_directory + "/objects.yaml"; 00026 } 00027 00028 inline std::string getLocationsImageFileLocationFromDataDirectory(const std::string& data_directory) { 00029 return data_directory + "/locations.pgm"; 00030 } 00031 00032 } /* bwi_planning_common */ 00033 00034 #endif /* end of include guard: BWI_PLANNING_COMMON_UTILS_H_ */