21 #ifndef _PLUGINS_AMCL_AMCL_UTILS_H_
22 #define _PLUGINS_AMCL_AMCL_UTILS_H_
29 #define AMCL_CFG_PREFIX "/plugins/amcl/"
37 map_t *read_map(
const char * map_file,
41 float occupied_threshold,
43 std::vector<std::pair<int, int>> &free_space_indices);
45 void read_map_config(Configuration * config,
46 std::string & cfg_map_file,
47 float & cfg_resolution,
50 float & cfg_origin_theta,
51 float & cfg_occupied_thresh,
52 float & cfg_free_thresh,
53 const std::string &cfg_prefix = AMCL_CFG_PREFIX);
Fawkes library namespace.