plannerMapServer.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <cv_bridge/cv_bridge.h>
#include <opencv2/core/core.hpp>
#include <tf/tf.h>

#include <nav_msgs/GetMap.h>
#include <nav_msgs/MapMetaData.h>
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <yaml-cpp/yaml.h>

// compute linear index for given map coords
#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))

class plannerMapServer
{
public:
  int negate;
  double freeThresh;
  double occThresh;
  double resolution;
  double origin[3];
  bool deprecated;
  std::string frameID;
  std::string mapfname;
  ros::NodeHandle n;
  ros::Publisher mapPublisher;
  ros::Publisher metadataPublisher;
  ros::ServiceServer service;
  ros::Subscriber mapImageSubscriber;
  nav_msgs::GetMap::Response mapResponse;
  nav_msgs::MapMetaData metaDataMessage;

  void loadMapFromMat(nav_msgs::GetMap::Response* resp, cv::Mat *opencvimg, double res, bool negate, double occThresh,
                      double freeThresh, double* origin);

  bool mapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);

  void mapUpdateCallback(const sensor_msgs::Image& mapImg);

  plannerMapServer();
};