map.h

Go to the documentation of this file.

#ifndef MRPT_BRIDGE_MAP_H
#define MRPT_BRIDGE_MAP_H

#include <stdint.h>
#include <string>

namespace std
{
template <class T>
class allocator;
}

namespace std_msgs
{
template <class ContainerAllocator>
struct Header_;
typedef Header_<std::allocator<void>> Header;
}

namespace nav_msgs
{
template <class ContainerAllocator>
struct OccupancyGrid_;
typedef OccupancyGrid_<std::allocator<void>> OccupancyGrid;
}

#include <mrpt/version.h>
namespace mrpt
{
namespace maps
{
class COccupancyGridMap2D;
class CMultiMetricMap;
}
}
using mrpt::maps::COccupancyGridMap2D;
using mrpt::maps::CMultiMetricMap;

namespace mrpt
{
namespace utils
{
class CConfigFile;
}
}

namespace mrpt_bridge
{
class MapHdl
{
   private:
        static MapHdl* instance_;  // singeleton instance
#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
        int8_t lut_cellmrpt2ros[0xFF];  // lookup table for entry convertion
        int8_t* lut_cellmrpt2rosPtr;  // pointer to the center of the lookup table
// neede to work with neg. indexes
#else
        int8_t lut_cellmrpt2ros[0xFFFF];  // lookup table for entry convertion
        int8_t* lut_cellmrpt2rosPtr;  // pointer to the center of the lookup table
// neede to work with neg. indexes
#endif
        int8_t lut_cellros2mrpt[0xFF];  // lookup table for entry convertion
        int8_t* lut_cellros2mrptPtr;  // pointer to the center of the lookup table
        // neede to work with neg. indexes
        MapHdl();
        MapHdl(const MapHdl&);
        ~MapHdl();

   public:
        static MapHdl* instance();

#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
        const int8_t cellMrpt2Ros(int i) { return lut_cellmrpt2rosPtr[i]; }
#else
        const int16_t cellMrpt2Ros(int i) { return lut_cellmrpt2rosPtr[i]; }
#endif
        const int8_t cellRos2Mrpt(int i) { return lut_cellros2mrptPtr[i]; }
        static const bool loadMap(
                CMultiMetricMap& _metric_map,
                const mrpt::utils::CConfigFile& _config_file,
                const std::string& _map_file = "map.simplemap",
                const std::string& _section_name = "metricMap", bool _debug = false);
};

bool convert(const nav_msgs::OccupancyGrid& src, COccupancyGridMap2D& des);

bool convert(
        const COccupancyGridMap2D& src, nav_msgs::OccupancyGrid& msg,
        const std_msgs::Header& header);
bool convert(const COccupancyGridMap2D& src, nav_msgs::OccupancyGrid& msg);

}  // namespace mrpt_bridge

#endif  // MRPT_BRIDGE_MAP_H