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 <string>
27#include <vector>
28
29#define AMCL_CFG_PREFIX "/plugins/amcl/"
30
31namespace fawkes {
32
33class Configuration;
34
35namespace amcl {
36
37map_t *read_map(const char * map_file,
38 float origin_x,
39 float origin_y,
40 float resolution,
41 float occupied_threshold,
42 float free_threshold,
43 std::vector<std::pair<int, int>> &free_space_indices);
44
45void read_map_config(Configuration * config,
46 std::string & cfg_map_file,
47 float & cfg_resolution,
48 float & cfg_origin_x,
49 float & cfg_origin_y,
50 float & cfg_origin_theta,
51 float & cfg_occupied_thresh,
52 float & cfg_free_thresh,
53 const std::string &cfg_prefix = AMCL_CFG_PREFIX);
54
55} // end namespace amcl
56} // end namespace fawkes
57
58#endif
Fawkes library namespace.