This document introduces the demo project of "composite_map_demo", including how to save and load maps of stcm format( composite map).

bool StcmMapWriter(const std::string file_name, SlamwareCorePlatform platform) {
	CompositeMap composite_map = platform.getCompositeMap();
    CompositeMapWriter composite_map_writer;
    std::string error_message;
    bool result = composite_map_writer.saveFile(error_message, file_name, composite_map);
    return result;
}

bool StcmMapReader(const std::string file_path, rpos::core::Pose pose, SlamwareCorePlatform platform) {
    CompositeMapReader composite_map_reader;
    std::string error_message;
    boost::shared_ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path));
    if (composite_map) {
        platform.setCompositeMap((*composite_map), pose);	
        return true;
    }
    return false;
}

    CompositeMapReader composite_map_reader;
    std::string error_message;
    boost::shared_ptr<CompositeMap> composite_map(composite_map_reader.loadFile(error_message, file_path));
    if (composite_map) {
        for (auto it = composite_map->maps().begin(); it != composite_map->maps().end(); ++it) {
            auto layer = *it;
            std::string usage = layer->getUsage();
			std::string type = layer->getType();
			std::cout << "Layer Usage : " << usage << std::endl;
			//get grid map layer
            if (type == GridMapLayer::Type) {
				auto grid_map = boost::dynamic_pointer_cast<GridMapLayer>(layer);
				std::cout << "Map Position : (" << grid_map->getOrigin().x() << " , " << 
					grid_map->getOrigin().y() << ")" <<std::endl;
				std::cout << "Map Resolution : (" << grid_map->getResolution().x() <<  
					" , " << grid_map->getResolution().y() << ")" <<std::endl;
				std::cout << "Map Dimension: (" << grid_map->getDimension().x() << 
					" , " << grid_map->getDimension().y() << ")" <<std::endl;
				std::cout << "Map Data:" << std::endl;
				for (auto it = grid_map->mapData().begin(); it != grid_map->mapData().end(); ++it) {
					std::cout << (int)*it << " " ;				
				}
				std::cout << std::endl << std::endl;			
            }
			//get line map layer
            else if (type == LineMapLayer::Type) {
                auto line_map = boost::dynamic_pointer_cast<LineMapLayer>(layer);
				for (auto it = line_map->lines().begin(); it != line_map->lines().end(); ++it) {
					auto line = it->second;
					std::cout << "start: (" << line.start.x() << " , " << line.start.y() << ")" << std::endl;
					std::cout << "end: (" << line.end.x() << " , " << line.end.y() << ")" << std::endl;
				}
				std::cout << std::endl;
            }
			//get pose map layer
			else if (type == PoseMapLayer::Type) {
				auto pose_map = boost::dynamic_pointer_cast<PoseMapLayer>(layer);
				for (auto it = pose_map->poses().begin(); it != pose_map->poses().end(); ++it) {					
					auto pos = it->second;
					std::cout << "Position : (" << pos.pose.x() << " , " << pos.pose.y() << ")" << std::endl;
				}	
				std::cout << std::endl;
			}
			else if (type == PointsMapLayer::Type) {                
				//TODO: get Points map layer
				std::cout << std::endl;
            }
			else {
				//TODO: get unknown map layer
				std::cout << std::endl;
            }
        }