map_io.hpp

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// Copyright (c) 2018 Intel Corporation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/* OccupancyGrid map input-output library */
 
#ifndef EASYNAV_COSTMAP_COMMON__MAP_IO_HPP_
#define EASYNAV_COSTMAP_COMMON__MAP_IO_HPP_
 
#include <string>
#include <vector>
 
#include "nav_msgs/msg/occupancy_grid.hpp"
 
/* Map input part */
 
namespace easynav
{

enum class MapMode
{
  Trinary,
  Scale,
  Raw,
};

const char * map_mode_to_string(MapMode map_mode);

MapMode map_mode_from_string(std::string map_mode_name);
 
struct LoadParameters
{
  std::string image_file_name;
  double resolution{0};
  std::vector<double> origin{0, 0, 0};
  double free_thresh;
  double occupied_thresh;
  MapMode mode;
  bool negate;
};
 
typedef enum
{
  LOAD_MAP_SUCCESS,
  MAP_DOES_NOT_EXIST,
  INVALID_MAP_METADATA,
  INVALID_MAP_DATA
} LOAD_MAP_STATUS;

LoadParameters loadMapYaml(const std::string & yaml_filename);

void loadMapFromFile(
  const LoadParameters & load_parameters,
  nav_msgs::msg::OccupancyGrid & map);

LOAD_MAP_STATUS loadMapFromYaml(
  const std::string & yaml_file,
  nav_msgs::msg::OccupancyGrid & map);
 
 
/* Map output part */
 
struct SaveParameters
{
  std::string map_file_name{""};
  std::string image_format{""};
  double free_thresh{0.0};
  double occupied_thresh{0.0};
  MapMode mode{MapMode::Trinary};
};

bool saveMapToFile(
  const nav_msgs::msg::OccupancyGrid & map,
  const SaveParameters & save_parameters);

std::string expand_user_home_dir_if_needed(
  std::string yaml_filename,
  std::string home_dir);
 
}  // namespace easynav
 
#endif  // EASYNAV_COSTMAP_COMMON__MAP_IO_HPP_