add slam_gmapping

slam_gmapping/openslam_gmapping/utils/printpgm.h

@@ -0,0 +1,19 @@
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <unistd.h>
+
+
+using namespace std;
+ostream& printpgm(ostream& os, int xsize, int ysize, const double * const * matrix){
+	if (!os)
+		return os;
+	os<< "P5" << endl <<  xsize << endl << ysize << endl << 255 << endl;
+        for (int y=ysize-1; y>=0; y--){
+                for (int x=0;x<xsize; x++){
+			unsigned char c=(unsigned char)(255*fabs(1.-matrix[x][y]));
+			os.put(c);
+		}
+        }
+	return os;
+}