class mrpt::ros2bridge::MapHdl

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

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

#include <mrpt/ros2bridge/map.h>

class MapHdl
{
public:
    //
methods

    static MapHdl* instance();

    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
        );

    int16_t cellMrpt2Ros(int16_t i);
    int8_t cellRos2Mrpt(int8_t i);
};

Methods

static MapHdl* instance()

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

Returns:

returns singeleton instance

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

Parameters:

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

Returns:

true on sucess.