Aria: ArMapInterface.h File Reference

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# ArMapInterface.h File Reference

## Detailed Description

Contains the set of interfaces that define the Aria maps.

Date:
  06/27/08

Author:
  K. Cunningham

The methods that define the Aria maps are grouped into a set of smaller interfaces which are contained in this file. These include:

- ArMapScanInterface : Methods related to scan data (e.g. points and lines) generally obtained from a specific sensor (such as the SICK laser or Hokuyo URG).

- ArMapObjectsInterface : Methods related to the objects in a map. These include user-defined objects such as goals, docks, and forbidden lines. They also include special "data" types of objects that may be automatically created during the scanning process.

- ArMapInfoInterface : Methods related to the various info arguments stored in a map. Examples of info include the map object type definitions and the routes and macros.

- ArMapSupplementInterface : Methods used to access supplemental data associated with the map. This currently consists only of the latitude / longitude of the origin, but may be extended in the future.

The primary interface implemented by all Aria maps is also contained in this file:

- ArMapInterface : All of the methods that are available for an Aria map. This interface extends all of the above interfaces and contains a few additional file-related methods.

In general, when passing an Aria map (pointer) as a parameter to a method, it is preferable to pass ArMapInterface *. This will allow for extension and different implementations of the interface.

          ArMapScanInterface
          ^
          |    ArMapObjectsInterface
          |    ^
          |    |    ArMapInfoInterface
          |    |    ^
          |    |    |    ArMapSupplementInterface
          |    |    |    ^
          |    |    |    | (extends)
          |    |    |    |
           ArMapInterface

`#include "ariaTypedefs.h"`
`#include "ariaUtil.h"`
`#include "ArMapObject.h"`
`#include "ArMapUtils.h"`
`#include "ArFunctor.h"`
`#include "ArArgumentBuilder.h"`
`#include "ArMutex.h"`
`#include <vector>`
`#include <set>`

## Classes
class | ArMapInfoInterface
| Methods related to setting and retrieving the various "info" tags in an Aria map. More...
class | ArMapInterface
class | ArMapObjectsInterface
| Methods related to setting and retrieving the objects in an Aria map. More...
class | ArMapScanInterface
| Methods related to setting and retrieving the scan-related data in an Aria map. More...
class | ArMapSupplementInterface
| Methods related to miscellaneous extra data in an Aria map. More...
## Defines
#define | ARMAP_DEFAULT_SCAN_TYPE ""
| The default scan type indicator, when an Aria map only has obstacle data of one type.
#define | ARMAP_SUMMARY_SCAN_TYPE NULL
| The scan type indicator used to obtain collective data from most or all obstacle data (see individual methods for how it is used for specific kinds of map data).