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Code Block
languagecpp
titleSave Composite Map
	rpos::robot_platforms::objects::CompositeMap spCm = platform.getCompositeMap();
    rpos::robot_platforms::objects::CompositeMapWriter tCmWriter;
    std::string strErrMsg;
    bool bRet = tCmWriter.saveFile(strErrMsg, filename, spCm);

从本地上传CompositeMap到Slamware

Code Block
languagecpp
titleUpload Composite Map
    rpos::robot_platforms::objects::CompositeMapReader tCmReader;
    std::string strErrMsg;
    boost::shared_ptr<rpos::robot_platforms::objects::CompositeMap> spCm(tCmReader.loadFile(strErrMsg, filePath));
    if (spCm){
        platform.setCompositeMap((*spCm), pose);	
    }