Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef HYDRO_OGMAP_LOAD_UTIL_H
00011 #define HYDRO_OGMAP_LOAD_UTIL_H
00012 
00013 #include <vector>
00014 #include <string>
00015 #include <hydroogmap/hydroogmap.h>
00016 
00017 namespace hydromapload {
00018 
00019     //
00020     // @author Alex Brooks
00021     // @brief Loads an occupancy grid from an image file.
00022     //
00023     // Allowed formats: anything qt can load
00024     //
00025     // Throws std::strings if there are problems.
00026     //
00027     void loadMap( const std::string &filename,
00028                   bool negate,
00029                   int &numCellsX,
00030                   int &numCellsY,
00031                   std::vector<unsigned char> &cells );
00032 
00033     
00034     //
00035     // @author Alex Brooks
00036     // @brief Loads an occupancy grid from an image file, into hydroogmap::OgMap format.
00037     //
00038     // Allowed formats: anything qt can load
00039     //
00040     // Throws std::strings if there are problems.
00041     //
00042     void loadMap( const std::string &filename,
00043                   hydroogmap::OgMap  &ogMap,
00044                   bool               negate,
00045                   float              offsetX,
00046                   float              offsetY,
00047                   float              offsetTheta,
00048                   float              metresPerCellX,
00049                   float              metresPerCellY  );
00050 }
00051 
00052 #endif
ogmaploadutil.h
