map_writer.h

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/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_ROS_MAP_WRITER_H_
#define CARTOGRAPHER_ROS_MAP_WRITER_H_

#include <string>

#include "nav_msgs/OccupancyGrid.h"

namespace cartographer_ros {

// Writes the given 'occupancy_grid' as 'stem'.pgm and 'stem'.yaml.
void WriteOccupancyGridToPgmAndYaml(
    const ::nav_msgs::OccupancyGrid& occupancy_grid, const std::string& stem);

}  // namespace cartographer_ros

#endif  // CARTOGRAPHER_ROS_MAP_WRITER_H_