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OgMapLoader [Components, Stand-Alone Components, C++, Linux, QNX] Serves an occupancy grid map which is loaded from an image file. More... Provides Home OgMap [OgMapLoader.Provides.OgMap] Status Requires none Drivers fake Serves a bogus made-up map. file Loads an occupancy grid map from a file. Operation Supportes file types are: most image formats anything qt can load: .png .bmp .jpg .jpeg .ppm .xbm .xpm ICE stream files file extension: .bin these files can be generated using OrcaView2d Clients who wish to receive the map should call getData(). This component will only ever issue one update to subscribers: on initialisation. Configuration OgMapLoader.Config.Driver (string) Which map loader to use Valid values: { "file", "fake" } Default: "file" OgMapLoader.Config.Filename (string) The name (and path) of the image to load Default: "mapfile.png" OgMapLoader.Config.Negate (bool) Whether increasing pixel value represents increasing occupancy probability Valid Values: 0: black is occupied, white is empty 1: white is occupied, black is empty Default: 0 OgMapLoader.MapType (int) Used to determine what the served ogMap represents Values: 0:occupancy, 1:hazard, 2:motion, user-defined integers can be assigned Default: 0 Map Geometry (see OgMap for a detailed explanation) Note: These parameters have no effect on maps loaded from ICE stream files. Those files contain all relevant information already. World Size (float,float) [m] OgMapLoader.Config.Size.X OgMapLoader.Config.Size.Y Map Origin with respect to the (arbitrarily defined) global coordinate system (float,float,float) [m,m,deg] OgMapLoader.Config.Offset.X OgMapLoader.Config.Offset.Y OgMapLoader.Config.Offset.Orientation For example, these configuration settings work for the Player's famous cave world. We define the global coordinate system's origin to be in the centre of the map. OgMapLoader.Config.Driver=file OgMapLoader.Config.MapFileName=cave.png OgMapLoader.Config.Negate=0 OgMapLoader.Config.Offset.Orientation=0.0 OgMapLoader.Config.Offset.X=-8.0 OgMapLoader.Config.Offset.Y=-8.0 OgMapLoader.Config.Size.X=16.0 OgMapLoader.Config.Size.Y=16.0 Dependancies Qt GUI library >= v.4.1 developer Tobias Kaupp (t.kaupp at cas.edu.au)

Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)

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