map_loader.h
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00001 
00040 #ifndef MAP_LOADER_QANRO76Q
00041 #define MAP_LOADER_QANRO76Q
00042 
00043 #include <string>
00044 
00045 #include <nav_msgs/GetMap.h>
00046 #include <nav_msgs/GetMapResponse.h>
00047 #include <yaml-cpp/yaml.h>
00048 #include <opencv/cv.h>
00049 
00050 namespace bwi_mapper {
00051 
00057   class MapLoader {
00058 
00059     public:
00060       
00066       MapLoader (const std::string& fname);
00067 
00073       void drawMap(cv::Mat &image, uint32_t orig_x = 0, uint32_t orig_y = 0);
00074 
00075       void getMapInfo(nav_msgs::MapMetaData& info) const;
00076       void getMap(nav_msgs::OccupancyGrid& map) const;
00077 
00082       void drawMap(cv::Mat &image, const nav_msgs::OccupancyGrid& map, 
00083           uint32_t orig_x = 0, uint32_t orig_y = 0);
00084 
00085     protected:
00086 
00089       nav_msgs::GetMap::Response map_resp_;
00090 
00091   }; /* MapLoader */
00092 
00093 } /* bwi_mapper */
00094 
00095 #endif /* end of include guard: MAP_LOADER_QANRO76Q */


bwi_mapper
Author(s): Piyush Khandelwal
autogenerated on Fri Aug 28 2015 10:14:35