Program Listing for File Graph.hpp
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/*
* Copyright (C) 2021 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <rmf_traffic/agv/Graph.hpp>
#include <rmf_site_map_msgs/msg/site_map.hpp>
#include <rmf_building_map_msgs/msg/graph.hpp>
#include <rmf_traffic/agv/Graph.hpp>
#include <optional>
#include <memory>
namespace rmf_traffic_ros2 {
//==============================================================================
rmf_traffic::agv::Graph convert(const rmf_site_map_msgs::msg::SiteMap& from,
int graph_idx = 0, double wp_tolerance = 1e-3);
//==============================================================================
std::optional<rmf_traffic::agv::Graph> convert(
const rmf_building_map_msgs::msg::Graph& from);
//==============================================================================
std::unique_ptr<rmf_building_map_msgs::msg::Graph> convert(
const rmf_traffic::agv::Graph& from, const std::string& fleet_name);
} // namespace rmf_traffic_ros2