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 <vector>
27 #include <string>
28 
29 #define AMCL_CFG_PREFIX "/plugins/amcl/"
30 
31 namespace fawkes {
32 
33  class Configuration;
34 
35  namespace amcl {
36 #if 0 /* just to make Emacs auto-indent happy */
37  }
38 }
39 #endif
40 
41 map_t *
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);
46 
47 void
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);
53 
54 
55 } // end namespace amcl
56 } // end namespace fawkes
57 
58 #endif
Fawkes library namespace.