.. _file_include_navmap_ros_conversions.hpp:

File conversions.hpp
====================

|exhale_lsh| :ref:`Parent directory <dir_include_navmap_ros>` (``include/navmap_ros``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Conversions between the core NavMap representation and ROS messages. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/navmap_ros/conversions.hpp``)
---------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_navmap_ros_conversions.hpp.rst



Detailed Description
--------------------

This header provides:

- Lossless conversion between the core type ``navmap::NavMap`` and the compact transport message ``navmap_ros_interfaces::msg::NavMap``.

- Bidirectional conversion between ``nav_msgs::msg::OccupancyGrid`` and ``navmap::NavMap`` using a regular triangular mesh (shared vertices, two triangles per grid cell).




Occupancy mapping

When building a NavMap from an OccupancyGrid, a per-NavCel (triangle) layer named ``"occupancy"`` (uint8) is added with the following value mapping:

- ``-1`` (unknown) → ``255``

- ``0..100`` (percent) → ``0..254`` (linear scaling)



The reverse conversion reuses that layer when present. 





Includes
--------


- ``Eigen/Core``

- ``memory``

- ``nav_msgs/msg/occupancy_grid.hpp``

- ``navmap_core/NavMap.hpp``

- ``navmap_ros_interfaces/msg/nav_map.hpp``

- ``navmap_ros_interfaces/msg/nav_map_layer.hpp``

- ``pcl/point_cloud.h``

- ``pcl/point_types.h``

- ``sensor_msgs/msg/point_cloud2.hpp``

- ``string``

- ``vector``



Included By
-----------


- :ref:`file_include_navmap_ros_navmap_io.hpp`




Namespaces
----------


- :ref:`namespace_navmap_ros`


Classes
-------


- :ref:`exhale_struct_structnavmap__ros_1_1BuildParams`


Functions
---------


- :ref:`exhale_function_namespacenavmap__ros_1afa5f917a11d494a9c1b3364a0c7656c9`

- :ref:`exhale_function_namespacenavmap__ros_1a96cb44d0f27b443bc9fc8fd74c5a801d`

- :ref:`exhale_function_namespacenavmap__ros_1ace8acda1a1b158180a4b80cb7d2186c7`

- :ref:`exhale_function_namespacenavmap__ros_1abfa38ce6c345352a0438abe64c1c6515`

- :ref:`exhale_function_namespacenavmap__ros_1a9bfc080d8c266f50e910a2d6b05fbaac`

- :ref:`exhale_function_namespacenavmap__ros_1a96b499505b175e45b2eab3f7025980f8`

- :ref:`exhale_function_namespacenavmap__ros_1a47a215a75796fc2913167e3296ce5398`

- :ref:`exhale_function_namespacenavmap__ros_1a44c8aa7fc13dbd07d3797851a647b9b3`