YARP
Yet Another Robot Platform
IMap2D.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_DEV_IMAP2D_H
7#define YARP_DEV_IMAP2D_H
8
9#include <yarp/os/Vocab.h>
10#include <yarp/sig/Image.h>
11#include <yarp/dev/api.h>
12#include <yarp/dev/MapGrid2D.h>
14#include <yarp/dev/Map2DArea.h>
15#include <yarp/dev/Map2DPath.h>
16#include <vector>
17#include <string>
18
19namespace yarp::dev::Nav2D {
20class IMap2D;
21}
22
29{
30public:
34 virtual ~IMap2D();
35
40 virtual bool clearAllMaps () = 0;
41
46 virtual bool store_map(const yarp::dev::Nav2D::MapGrid2D& map) = 0;
47
52 virtual bool get_map(std::string map_name, yarp::dev::Nav2D::MapGrid2D& map) = 0;
53
58 virtual bool get_map_names(std::vector<std::string>& map_names) = 0;
59
64 virtual bool remove_map(std::string map_name) = 0;
65
72 virtual bool storeLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) = 0;
73
80 virtual bool storeArea(std::string area_name, yarp::dev::Nav2D::Map2DArea area) = 0;
81
88 virtual bool storePath(std::string path_name, yarp::dev::Nav2D::Map2DPath path) = 0;
89
96 virtual bool getLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation& loc) = 0;
97
104 virtual bool getArea(std::string area_name, yarp::dev::Nav2D::Map2DArea& area) = 0;
105
112 virtual bool getPath(std::string path_name, yarp::dev::Nav2D::Map2DPath& path) = 0;
113
119 virtual bool getLocationsList(std::vector<std::string>& locations) = 0;
120
126 virtual bool getAreasList(std::vector<std::string>& areas) = 0;
127
133 virtual bool getPathsList(std::vector<std::string>& paths) = 0;
134
140 virtual bool getAllLocations(std::vector<yarp::dev::Nav2D::Map2DLocation>& locations) = 0;
141
147 virtual bool getAllAreas(std::vector<yarp::dev::Nav2D::Map2DArea>& areas) = 0;
148
154 virtual bool getAllPaths(std::vector<yarp::dev::Nav2D::Map2DPath>& paths) = 0;
155
162 virtual bool renameLocation(std::string original_name, std::string new_name) = 0;
163
169 virtual bool deleteLocation(std::string location_name) = 0;
170
176 virtual bool deletePath(std::string path_name) = 0;
177
184 virtual bool renameArea(std::string original_name, std::string new_name) = 0;
185
192 virtual bool renamePath(std::string original_name, std::string new_name) = 0;
193
199 virtual bool deleteArea(std::string area_name) = 0;
200
205 virtual bool clearAllLocations() = 0;
206
211 virtual bool clearAllAreas() = 0;
212
217 virtual bool clearAllPaths() = 0;
218
223 virtual bool clearAllMapsTemporaryFlags() = 0;
224
229 virtual bool clearMapTemporaryFlags(std::string map_name) = 0;
230
237 virtual bool saveMapToDisk(std::string map_name, std::string file_name) = 0;
238
244 virtual bool loadMapFromDisk(std::string file_name) = 0;
245
251 virtual bool saveMapsCollection(std::string file_name) = 0;
252
258 virtual bool loadMapsCollection(std::string file_name) = 0;
259
265 virtual bool saveLocationsAndExtras(std::string file_name) = 0;
266
272 virtual bool loadLocationsAndExtras(std::string file_name) = 0;
273
279 virtual bool enableMapsCompression(bool enable) = 0;
280};
281
282//This section of vocabs is used just by deprecated device Map2DServer and Map2DClient
283//It can be thus safely eliminated as soon as these devices are removed from yarp
296
297#endif // YARP_DEV_IMAP2D_H
constexpr yarp::conf::vocab32_t VOCAB_IMAP_LOAD_X
Definition: IMap2D.h:290
constexpr yarp::conf::vocab32_t VOCAB_IMAP_OK
Definition: IMap2D.h:294
constexpr yarp::conf::vocab32_t VOCAB_IMAP_SAVE_X
Definition: IMap2D.h:291
constexpr yarp::conf::vocab32_t VOCAB_IMAP
Definition: IMap2D.h:284
constexpr yarp::conf::vocab32_t VOCAB_IMAP_GET_MAP
Definition: IMap2D.h:286
constexpr yarp::conf::vocab32_t VOCAB_IMAP_SET_MAP
Definition: IMap2D.h:285
constexpr yarp::conf::vocab32_t VOCAB_IMAP_LOCATIONS_COLLECTION
Definition: IMap2D.h:293
constexpr yarp::conf::vocab32_t VOCAB_IMAP_MAPS_COLLECTION
Definition: IMap2D.h:292
constexpr yarp::conf::vocab32_t VOCAB_IMAP_CLEAR_ALL_MAPS
Definition: IMap2D.h:288
constexpr yarp::conf::vocab32_t VOCAB_IMAP_ERROR
Definition: IMap2D.h:295
constexpr yarp::conf::vocab32_t VOCAB_IMAP_REMOVE
Definition: IMap2D.h:289
constexpr yarp::conf::vocab32_t VOCAB_IMAP_GET_NAMES
Definition: IMap2D.h:287
contains the definition of a Map2DArea type
contains the definition of a Map2DLocation type
contains the definition of a Map2DPath type
contains the definition of a map type
IMap2D Interface.
Definition: IMap2D.h:29
virtual bool deleteLocation(std::string location_name)=0
Delete a location.
virtual bool getAllLocations(std::vector< yarp::dev::Nav2D::Map2DLocation > &locations)=0
Get a list of all stored locations.
virtual bool deletePath(std::string path_name)=0
Delete a path.
virtual bool get_map(std::string map_name, yarp::dev::Nav2D::MapGrid2D &map)=0
Gets a map from the map server.
virtual bool deleteArea(std::string area_name)=0
Delete an area.
virtual bool storeArea(std::string area_name, yarp::dev::Nav2D::Map2DArea area)=0
Store an area.
virtual bool remove_map(std::string map_name)=0
Removes a map from the map server.
virtual bool storePath(std::string path_name, yarp::dev::Nav2D::Map2DPath path)=0
Store a path.
virtual bool clearAllPaths()=0
Delete all stored paths.
virtual bool clearAllAreas()=0
Delete all stored areas.
virtual bool storeLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation loc)=0
Store a location specified by the user in the world reference frame.
virtual bool enableMapsCompression(bool enable)=0
99999999999
virtual bool getLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc)=0
Retrieves a location specified by the user in the world reference frame.
virtual bool getAllAreas(std::vector< yarp::dev::Nav2D::Map2DArea > &areas)=0
Get a list of all stored areas.
virtual bool store_map(const yarp::dev::Nav2D::MapGrid2D &map)=0
Stores a map into the map server.
virtual bool clearAllLocations()=0
Delete all stored locations.
virtual bool getAllPaths(std::vector< yarp::dev::Nav2D::Map2DPath > &paths)=0
Get a list of all stored paths.
virtual bool clearAllMapsTemporaryFlags()=0
Clear all temporary flags from all stored maps.
virtual bool get_map_names(std::vector< std::string > &map_names)=0
Gets a list containing the names of all registered maps.
virtual ~IMap2D()
Destructor.
virtual bool renameArea(std::string original_name, std::string new_name)=0
Searches for an area and renames it.
virtual bool getPathsList(std::vector< std::string > &paths)=0
Get a list of the names of all stored paths.
virtual bool clearAllMaps()=0
Removes all the registered maps from the server.
virtual bool clearMapTemporaryFlags(std::string map_name)=0
Clear all temporary flags from a specific map.
virtual bool renamePath(std::string original_name, std::string new_name)=0
Searches for a path and renames it.
virtual bool loadMapFromDisk(std::string file_name)=0
Load a map from disk.
virtual bool saveMapsCollection(std::string file_name)=0
Save a collection of maps to disk.
virtual bool loadLocationsAndExtras(std::string file_name)=0
Load a collection of locations/areas/paths etc from disk.
virtual bool getArea(std::string area_name, yarp::dev::Nav2D::Map2DArea &area)=0
Retrieves an area.
virtual bool saveMapToDisk(std::string map_name, std::string file_name)=0
Save a map to disk.
virtual bool loadMapsCollection(std::string file_name)=0
Load a collection of maps from disk.
virtual bool getPath(std::string path_name, yarp::dev::Nav2D::Map2DPath &path)=0
Retrieves a path.
virtual bool renameLocation(std::string original_name, std::string new_name)=0
Searches for a location and renames it.
virtual bool getLocationsList(std::vector< std::string > &locations)=0
Get a list of the names of all stored locations.
virtual bool getAreasList(std::vector< std::string > &areas)=0
Get a list of the names of all stored areas.
virtual bool saveLocationsAndExtras(std::string file_name)=0
Save a collection of locations/area/paths etc to disk.
std::int32_t vocab32_t
Definition: numeric.h:78
constexpr yarp::conf::vocab32_t createVocab32(char a, char b=0, char c=0, char d=0)
Create a vocab from chars.
Definition: Vocab.h:27
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_dev_API
Definition: api.h:18