armarx::localization_and_mapping::cartographer_adapter::util Namespace Reference

Functions
int64_t	fromCarto (::cartographer::common::Time time)
	Convert cartographer time to unix time in [µs]. More...
std::unique_ptr<::cartographer::mapping::MapBuilderInterface >	loadMap (const std::filesystem::path &mapPath, const std::filesystem::path &configPath)
	Creates a map builder object from a stored map. More...
std::unique_ptr<::cartographer::common::LuaParameterDictionary >	resolveLuaParameters (const std::string &luaCode, const std::filesystem::path &configPath)
	Helper function to create Lua parameter object from string. More...
::cartographer::common::Time	toCarto (const int64_t &time)
	Convert unix time in [µs] to cartographer time. More...

Function Documentation

fromCarto()

int64_t fromCarto

(

::cartographer::common::Time

time

)

Convert cartographer time to unix time in [µs].

Parameters

time	cartographer time

Returns

int64_t time in [µs]

Definition at line 22 of file cartographer_utils.cpp.

loadMap()

std::unique_ptr<::cartographer::mapping::MapBuilderInterface > loadMap	(	const std::filesystem::path &	mapPath,
		const std::filesystem::path &	configPath
	)

Creates a map builder object from a stored map.

Parameters

mapPath	The path to the map (e.g. /path/to/map.carto)
configPath	The path where the lua config files reside.

Returns

std::unique_ptr<cartographer::mapping::MapBuilderInterface>

Definition at line 45 of file cartographer_utils.cpp.

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resolveLuaParameters()

std::unique_ptr<::cartographer::common::LuaParameterDictionary > resolveLuaParameters	(	const std::string &	luaCode,
		const std::filesystem::path &	configPath
	)

Helper function to create Lua parameter object from string.

Example:

 const std::string mapBuilderLuaCode = R"text(
       include "map_builder.lua"
       return MAP_BUILDER)text";

 auto paramsDict = resolveLuaParameters(mapBuilderLuaCode, ...);

Parameters

luaCode	The lua code that will be evaluated.
configPath	The path where the lua config files reside.

Returns

std::unique_ptr<::cartographer::common::LuaParameterDictionary>

Definition at line 11 of file cartographer_utils.cpp.

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toCarto()

cartographer::common::Time toCarto

(

const int64_t &

time

)

Convert unix time in [µs] to cartographer time.

Parameters

time

in [µs]

Returns

::cartographer::common::Time

Definition at line 35 of file cartographer_utils.cpp.