software/final/alf_car/src/slam/SlamMap.cpp
void SlamMap::mapCallback(const nav_msgs::OccupancyGridConstPtr& map) {

    //ROS_INFO("Received a %d X %d map @ %.3f m/pix", map->info.width, map->info.height, map->info.resolution);

    if (saveMap_) {
        createPgmMapFile(map);
        createTxtPositionFile();
    }

    mapInterface(map);


}
/**
 * callback for the "map" topic
 *
 * @param map: const nav_msgs::OccupancyGridConstPtr reference to obtain the raw map data
 */
callback for the "map" topic
@param map: const nav_msgs::OccupancyGridConstPtr reference to obtain the raw map data
callback for the " map " topic @param map : const nav_msgs :: OccupancyGridConstPtr reference to obtain the raw map data
void SlamMap::mapCallback(const nav_msgs::OccupancyGridConstPtr& map) {
    if (saveMap_) {
        createPgmMapFile(map);
        createTxtPositionFile();
    }
    mapInterface(map);
}
void SlamMap :: mapCallback ( const nav_msgs :: OccupancyGridConstPtr & map ) { if ( saveMap_ ) { createPgmMapFile ( map ) ; createTxtPositionFile ( ) ; } mapInterface ( map ) ; }
callback for the "map" topic
 @param map: const nav_msgs::OccupancyGridConstPtr reference to obtain the raw map data
callback for the " map " topic @param map : const nav_msgs :: OccupancyGridConstPtr reference to obtain the raw map data
//ROS_INFO("Received a %d X %d map @ %.3f m/pix", map->info.width, map->info.height, map->info.resolution);