42 lines
1.4 KiB
C++
42 lines
1.4 KiB
C++
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_ROS_ROS_MAP_H_
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#define CARTOGRAPHER_ROS_ROS_MAP_H_
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#include <string>
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#include "Eigen/Core"
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/image.h"
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#include "cartographer/mapping_2d/map_limits.h"
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namespace cartographer_ros {
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// Write 'image' as a pgm into 'file_writer'. The resolution is used in the
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// comment only'
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void WritePgm(const ::cartographer::io::Image& image, const double resolution,
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::cartographer::io::FileWriter* file_writer);
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// Write the corresponding yaml into 'file_writer'.
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void WriteYaml(const double resolution, const Eigen::Vector2d& origin,
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const std::string& pgm_filename,
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::cartographer::io::FileWriter* file_writer);
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} // namespace cartographer_ros
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#endif /* end of include guard: CARTOGRAPHER_ROS_ROS_MAP_H_ */
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