保存CompositeMap到本地
Save 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
Upload 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);
}