OccupancyGrid.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_OCCUPANCYGRID_H_
#define _MIRA_OCCUPANCYGRID_H_

#include <maps/GridMapIO.h>

#include <maps/MapsExports.h>

namespace mira { namespace maps {


typedef GridMap<uint8> OccupancyGrid;


using OccupancyGridInfo = GridMapInfo;
using OccupancyGridFileInfoWithFrame = GridMapFileInfoWithFrame;
using OccupancyGridFileInfoWithFrameAndChannelName = GridMapFileInfoWithFrameAndChannelName;

MIRA_MAPPING_MAPS_EXPORT OccupancyGrid loadOccupancyGrid(const OccupancyGridInfo& info,
                                                         bool truncateTo254 = true);

MIRA_MAPPING_MAPS_EXPORT OccupancyGrid loadOccupancyGridFromFile(const Path& filename,
                                                                 float cellSize,
                                                                 const Point2i& offset,
                                                                 bool truncateTo254 = true);

MIRA_MAPPING_MAPS_EXPORT OccupancyGrid loadOccupancyGridFromImage(const Img<>& img,
                                                                 float cellSize,
                                                                 const Point2i& offset,
                                                                 bool truncateTo254 = true);

MIRA_MAPPING_MAPS_EXPORT OccupancyGrid loadOccupancyGridFromGM2File(const Path& filename);

MIRA_MAPPING_MAPS_EXPORT void saveOccupancyGridToFile(Path filename,
                                                      const OccupancyGrid& map,
                                                      bool fullImagePath = true);


}}

#endif