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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:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef OCCUPANCY_GRID_UTILS_FILE_H
#define OCCUPANCY_GRID_UTILS_FILE_H

#include <nav_msgs/OccupancyGrid.h>
#include <geometry_msgs/Pose.h>

namespace occupancy_grid_utils
{

inline
geometry_msgs::Pose identityPose ()
{
  geometry_msgs::Pose p;
  p.orientation.w = 1.0;
  return p;
}

// Taken from map_server
const double DEFAULT_OCC_THRESHOLD = 0.65;
const double DEFAULT_FREE_THRESHOLD = 0.196;

nav_msgs::OccupancyGrid::Ptr loadGrid (const std::string& fname,
                                       double resolution=1.0,
                                       const geometry_msgs::Pose& origin =
                                       identityPose());
                                   

} // namespace

#endif // include guard