mrpt::ros1bridge::MapHdl Class Reference

Detailed Description

Methods to convert between ROS msgs and MRPT objects for map datatypes.

the map class is implemented as singeleton use map::instance ()->fromROS ...

Definition at line 30 of file map.h.

#include <mrpt/ros1bridge/map.h>

Public Member Functions
int16_t	cellMrpt2Ros (int16_t i)
int8_t	cellRos2Mrpt (int8_t i)

Static Public Member Functions
static MapHdl *	instance ()
	it creates a instance with some look up table to speed up the conversions More...
static bool	loadMap (mrpt::maps::CMultiMetricMap &_metric_map, const mrpt::config::CConfigFileBase &_config_file, const std::string &_map_file="map.simplemap", const std::string &_section_name="metricMap", bool _debug=false)
	loads a mprt map More...

Private Member Functions
	MapHdl ()
	MapHdl (const MapHdl &)
	~MapHdl ()=default

Private Attributes
int	lut_cellmrpt2ros [0xFFFF]
int	lut_cellros2mrpt [101]

Constructor & Destructor Documentation

MapHdl() [1/2]

mrpt::ros1bridge::MapHdl::MapHdl ( )

private

Definition at line 40 of file map.cpp.

References INT16_MAX, INT16_MIN, INT8_MAX, INT8_MIN, mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p(), mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l(), and mrpt::round().

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MapHdl() [2/2]

mrpt::ros1bridge::MapHdl::MapHdl ( const MapHdl &  )

private

~MapHdl()

mrpt::ros1bridge::MapHdl::~MapHdl ( )

privatedefault

Member Function Documentation

cellMrpt2Ros()

int16_t mrpt::ros1bridge::MapHdl::cellMrpt2Ros ( int16_t  i )

inline

Definition at line 58 of file map.h.

References INT16_MIN, and lut_cellmrpt2ros.

cellRos2Mrpt()

int8_t mrpt::ros1bridge::MapHdl::cellRos2Mrpt ( int8_t  i )

inline

Definition at line 63 of file map.h.

References ASSERT_BELOWEQ_, and lut_cellros2mrpt.

instance()

MapHdl * mrpt::ros1bridge::MapHdl::instance ( )

static

it creates a instance with some look up table to speed up the conversions

Returns

returns singeleton instance

Definition at line 78 of file map.cpp.

loadMap()

bool mrpt::ros1bridge::MapHdl::loadMap ( mrpt::maps::CMultiMetricMap &  _metric_map, const mrpt::config::CConfigFileBase &  _config_file, const std::string &  _map_file = "map.simplemap", const std::string &  _section_name = "metricMap", bool  _debug = false  )

static

loads a mprt map

Returns

true on sucess.

Parameters

_metric_map
_config_file
_map_file	default: map.simplemap
_section_name	default: metricMap
_debug	default: false

Definition at line 149 of file map.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, ASSERTMSG_, mrpt::maps::CMultiMetricMap::countMapsByClass(), mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::system::extractFileExtension(), mrpt::system::fileExists(), mrpt::format(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::system::lowerCase(), mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::maps::CMultiMetricMap::setListOfMaps(), and THROW_EXCEPTION.

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Member Data Documentation

lut_cellmrpt2ros

int mrpt::ros1bridge::MapHdl::lut_cellmrpt2ros[0xFFFF]

private

Definition at line 36 of file map.h.

Referenced by cellMrpt2Ros().

lut_cellros2mrpt

int mrpt::ros1bridge::MapHdl::lut_cellros2mrpt[101]

private

Definition at line 38 of file map.h.

Referenced by cellRos2Mrpt().