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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;
} |
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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;
} |