Fawkes API  Fawkes Development Version
amcl_utils.h
1 /***************************************************************************
2  * amcl_utils.h - AMCL utils
3  *
4  * Created: Thu Aug 23 18:10:03 2012
5  * Copyright 2012 Tim Niemueller [www.niemueller.de]
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #ifndef _PLUGINS_AMCL_AMCL_UTILS_H_
22 #define _PLUGINS_AMCL_AMCL_UTILS_H_
23 
24 #include "map/map.h"
25 
26 #include <string>
27 #include <vector>
28 
29 #define AMCL_CFG_PREFIX "/plugins/amcl/"
30 
31 namespace fawkes {
32 
33 class Configuration;
34 
35 namespace amcl {
36 
37 map_t *read_map(const char * map_file,
38  float origin_x,
39  float origin_y,
40  float resolution,
41  float occupied_threshold,
42  float free_threshold,
43  std::vector<std::pair<int, int>> &free_space_indices);
44 
45 void read_map_config(Configuration * config,
46  std::string & cfg_map_file,
47  float & cfg_resolution,
48  float & cfg_origin_x,
49  float & cfg_origin_y,
50  float & cfg_origin_theta,
51  float & cfg_occupied_thresh,
52  float & cfg_free_thresh,
53  const std::string &cfg_prefix = AMCL_CFG_PREFIX);
54 
55 } // end namespace amcl
56 } // end namespace fawkes
57 
58 #endif
fawkes
Fawkes library namespace.