base_map_config.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <string>
#include <vector>
 
#include <boost/property_tree/xml_parser.hpp>
 
#include "modules/localization/msf/common/util/rect2d.h"
#include "modules/localization/msf/local_map/base_map/base_map_fwd.h"
 
namespace apollo {
namespace localization {
namespace msf {
 
class BaseMapConfig {
 public:
  explicit BaseMapConfig(std::string map_version = "0.1");
  bool Save(const std::string file_path);
  bool Load(const std::string file_path);
  void ResizeMapRange();
  void SetSingleResolutions(float resolution = 0.125);
  void SetMultiResolutions();
 
  std::string map_version_;
  std::vector<float> map_resolutions_;
  unsigned int map_node_size_x_;
  unsigned int map_node_size_y_;
  Rect2D<double> map_range_;
 
  float map_ground_height_offset_;
  bool map_is_compression_;
 
  std::string map_folder_path_;
  std::vector<std::string> map_datasets_;
 
 protected:
  virtual void CreateXml(boost::property_tree::ptree* config) const;
  virtual void LoadXml(const boost::property_tree::ptree& config);
};
 
}  // namespace msf
}  // namespace localization
}  // namespace apollo