MRPT  1.9.9
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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 MapHdlinstance ()
 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_filedefault: map.simplemap
_section_namedefault: metricMap
_debugdefault: 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().




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