Fawkes API
Fawkes Development Version
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00001 /*************************************************************************** 00002 * amcl_utils.h - AMCL utils 00003 * 00004 * Created: Thu Aug 23 18:10:03 2012 00005 * Copyright 2012 Tim Niemueller [www.niemueller.de] 00006 ****************************************************************************/ 00007 00008 /* This program is free software; you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation; either version 2 of the License, or 00011 * (at your option) any later version. 00012 * 00013 * This program is distributed in the hope that it will be useful, 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00016 * GNU Library General Public License for more details. 00017 * 00018 * Read the full text in the LICENSE.GPL file in the doc directory. 00019 */ 00020 00021 #ifndef __PLUGINS_AMCL_AMCL_UTILS_H_ 00022 #define __PLUGINS_AMCL_AMCL_UTILS_H_ 00023 00024 #include "map/map.h" 00025 00026 #include <vector> 00027 #include <string> 00028 00029 #define CFG_PREFIX "/plugins/amcl/" 00030 00031 namespace fawkes { 00032 00033 class Configuration; 00034 00035 namespace amcl { 00036 #if 0 /* just to make Emacs auto-indent happy */ 00037 } 00038 } 00039 #endif 00040 00041 map_t * 00042 read_map(const char *map_file, 00043 float origin_x, float origin_y, float resolution, 00044 float occupied_threshold, float free_threshold, 00045 std::vector<std::pair<int, int> > &free_space_indices); 00046 00047 void 00048 read_map_config(Configuration *config, 00049 std::string &cfg_map_file, float &cfg_resolution, 00050 float &cfg_origin_x, float &cfg_origin_y, float &cfg_origin_theta, 00051 float &cfg_occupied_thresh, float &cfg_free_thresh); 00052 00053 00054 } // end namespace amcl 00055 } // end namespace fawkes 00056 00057 #endif