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#ifndef MAPMANAGER_H
#define MAPMANAGER_H
#include <string>
#include <map>
#include <list>
#include "nav_msgs/OccupancyGrid.h"
#include "geometry_msgs/Pose.h"
#include "ros/ros.h"
/** @class MapManager
* @author Malte Knauf, David Gossow (RX), Susanne Maur
* @brief This class holds all current map layers, updates them and publishes them in one merged map.
*/
class MapManager
{
public:
/**
* @brief Constructor
* @param nh node handle
*/
MapManager(ros::NodeHandle* nh);
/**
* @brief getMapLayer search for map layer of given type and return it
* @param type type of map layer to search for
* @return map layer
*/
nav_msgs::OccupancyGrid::ConstPtr getMapLayer(int type);
/**
* @brief updateMapLayer replaces map layer of given type
* @param type type of map layer
* @param layer new map layer
*/
void updateMapLayer(int type, nav_msgs::OccupancyGrid::ConstPtr layer);
/**
* @brief toggleMapVisibility toggles visibility of each map layer
* @param type type of map layer to toggle
* @param state visible or not
*/
void toggleMapVisibility(int type, bool state );
/**
* @brief clearMapLayers Clear all map layers
*/
void clearMapLayers();
/** getters */
double getHeight() { return m_Height; }
double getWidth() { return m_Width; }
double getResolution() { return m_Resolution; }
geometry_msgs::Pose getOrigin() { return m_Origin; }
/** destructor */
virtual ~MapManager();
private:
/** merges all map layers and publishes the merged map */
void sendMergedMap();
/**
* The map data of each available map layer ist stored in this map
*/
std::map<int, nav_msgs::OccupancyGrid::ConstPtr > m_MapLayers;
/**
* This map stores which map layers are enabled and which are disabled
*/
std::map<int, bool> m_MapVisibility;
//sizes of the last slam map
double m_Height;
double m_Width;
double m_Resolution;
geometry_msgs::Pose m_Origin;
/** map publisher */
ros::Publisher m_MapPublisher;
};
#endif