map_io.hpp File Reference

#include <string>
#include <vector>
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"

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Classes
struct	LoadParameters
struct	SaveParameters

Namespaces
namespace	easynav_bonxai

Enumerations
enum	LOAD_MAP_STATUS { LOAD_MAP_SUCCESS , MAP_DOES_NOT_EXIST , INVALID_MAP_METADATA , INVALID_MAP_DATA }
enum class	MapMode { Trinary , Scale , Raw }

Functions
std::string	expand_user_home_dir_if_needed (std::string yaml_filename, std::string home_dir)
	Expand ~/ to home user dir.
void	loadMapFromFile (const LoadParameters &load_parameters, nav_msgs::msg::OccupancyGrid &map)
	Load the image from map file and generate an OccupancyGrid.
LOAD_MAP_STATUS	loadMapFromYaml (const std::string &yaml_file, nav_msgs::msg::OccupancyGrid &map)
	Load the map YAML, image from map file and generate an OccupancyGrid.
LoadParameters	loadMapYaml (const std::string &yaml_filename)
	Load and parse the given YAML file.
MapMode	map_mode_from_string (std::string map_mode_name)
	Convert the name of a map mode to a MapMode enum.
const char *	map_mode_to_string (MapMode map_mode)
	Convert a MapMode enum to the name of the map mode.
geometry_msgs::msg::Quaternion	orientationAroundZAxis (double angle)
	Get a geometry_msgs Quaternion from a yaw angle.
bool	saveMapToFile (const nav_msgs::msg::OccupancyGrid &map, const SaveParameters &save_parameters)
	Write OccupancyGrid map to file.