pose_labeler.h

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#ifndef _POSE_LABELER_H_
#define _POSE_LABELER_H_

#include <string>

#include <boost/shared_ptr.hpp>

#include <ros/ros.h>

#include <nav_msgs/MapMetaData.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <stdlib.h>

#include <SDL/SDL_image.h>
#include <topological_tools/PoseLabel.h>




namespace topological_tools
{
class PoseLabeler
{
public:
    PoseLabeler ( const std::string& label_map_filename );

    ~PoseLabeler();
    PoseLabel getPoseLabel ( geometry_msgs::PoseWithCovarianceStamped msg );
    uint32_t getPixelValue ( boost::shared_ptr<SDL_Surface> surface, int x, int y );

    void setMapMetaData ( const nav_msgs::MapMetaDataConstPtr& mdata );

    void setMapMetaData ( nav_msgs::MapMetaData mdata );

private:

    boost::shared_ptr<SDL_Surface> label_map_;

    bool map_loaded_;

    nav_msgs::MapMetaData map_metadata_;
};
}

#endif