21 #ifndef __PLUGINS_AMCL_AMCL_UTILS_H_ 22 #define __PLUGINS_AMCL_AMCL_UTILS_H_ 29 #define AMCL_CFG_PREFIX "/plugins/amcl/" 42 read_map(
const char *map_file,
43 float origin_x,
float origin_y,
float resolution,
44 float occupied_threshold,
float free_threshold,
45 std::vector<std::pair<int, int> > &free_space_indices);
48 read_map_config(Configuration *config,
49 std::string &cfg_map_file,
float &cfg_resolution,
50 float &cfg_origin_x,
float &cfg_origin_y,
float &cfg_origin_theta,
51 float &cfg_occupied_thresh,
float &cfg_free_thresh,
52 std::string cfg_prefix = AMCL_CFG_PREFIX);
Fawkes library namespace.