.. _file_include_navmap_ros_navmap_io.hpp:

File navmap_io.hpp
==================

|exhale_lsh| :ref:`Parent directory <dir_include_navmap_ros>` (``include/navmap_ros``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Save/Load utilities for NavMap to/from disk using ROS 2 CDR serialization. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/navmap_ros/navmap_io.hpp``)
-------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_navmap_ros_navmap_io.hpp.rst



Detailed Description
--------------------

Two API layers: 1) **Message-level**: save/load ``navmap_ros_interfaces::msg::NavMap`` directly. 2) **Core-level (optional)**: save/load ``navmap::NavMap`` if the core headers are available, using ``navmap_ros::to_msg`` / ``navmap_ros::from_msg``.

File format
A small binary envelope followed by the ROS 2-serialized payload:

- Magic header

- Version (uint32)

- Payload size (uint64, little-endian)

- Serialized message payload (CDR)



If the magic header is not present, the loader falls back to interpreting the whole file as a raw CDR payload. 




Includes
--------


- ``navmap_core/NavMap.hpp``

- ``navmap_ros_interfaces/msg/nav_map.hpp``

- ``string``

- ``system_error``






Namespaces
----------


- :ref:`namespace_navmap_ros`

- :ref:`namespace_navmap_ros__io`


Classes
-------


- :ref:`exhale_struct_structnavmap__ros_1_1io_1_1SaveOptions`


Functions
---------


- :ref:`exhale_function_namespacenavmap__ros_1_1io_1a2be40cd3761caf2a9c9b32484738a4af`

- :ref:`exhale_function_namespacenavmap__ros_1_1io_1a2fee8a58eee97a783f1ceb421ab82eda`

- :ref:`exhale_function_namespacenavmap__ros_1_1io_1a7ca82935869f1f9d9889645f12c86421`

- :ref:`exhale_function_namespacenavmap__ros_1_1io_1accd155dbb64ddc938b81e49049c533e4`