cartographer_ros: ros_map.h Source File

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00001 /*
00002  * Copyright 2017 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_H
00018 #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_H
00019 
00020 #include <string>
00021 
00022 #include "Eigen/Core"
00023 #include "cartographer/io/file_writer.h"
00024 #include "cartographer/io/image.h"
00025 #include "cartographer/mapping/2d/map_limits.h"
00026 
00027 namespace cartographer_ros {
00028 
00029 // Write 'image' as a pgm into 'file_writer'. The resolution is used in the
00030 // comment only'
00031 void WritePgm(const ::cartographer::io::Image& image, const double resolution,
00032               ::cartographer::io::FileWriter* file_writer);
00033 
00034 // Write the corresponding yaml into 'file_writer'.
00035 void WriteYaml(const double resolution, const Eigen::Vector2d& origin,
00036                const std::string& pgm_filename,
00037                ::cartographer::io::FileWriter* file_writer);
00038 
00039 }  // namespace cartographer_ros
00040 
00041 #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ROS_MAP_H