Class MapHdl

Class Documentation

class MapHdl

the map class is implemented as singeleton use map::instance ()->fromROS …

Methods to convert between ROS msgs and MRPT objects for map datatypes.

Public Functions

inline int16_t cellMrpt2Ros(int16_t i)
inline int8_t cellRos2Mrpt(int8_t i)

Public Static Functions

static MapHdl *instance()

it creates a instance with some look up table to speed up the conversions

Returns:

returns singeleton instance

static bool loadMap(mrpt::maps::CMultiMetricMap &_metric_map, const mrpt::config::CConfigFileBase &_config_file, const std::string &_map_file = "map.simplemap", const std::string &_section_name = "metricMap", bool _debug = false)

loads a mprt map

Parameters:

  • _metric_map –

  • _config_file –

  • _map_file – default: map.simplemap

  • _section_name – default: metricMap

  • _debug – default: false

Returns:

true on sucess.