/** @page binary__maptools

<h2>Maptools</h2>

@section maptool Maptool

The maptool program allows maps to be modified on the command line. 

<h3>Usage: ./maptool \<action\> \<...\></h3>

\<action\> is one of: toppm, tomap, rotate, minimize,  info
Run ./maptool \<action\> to get help on using each action.

<h3>Usage: ./maptool info \<filename\></h3>

Provides information on the map, including dimensions, resolution,
any placenames stored in the map. 

<h3>Usage: ./maptool toppm \<map filename\> \<ppm filename\></h3>

Converts a map file to a ppm file.

<h3>Usage: ./maptool tomap \<resolution\> \<ppm filename\> \<map filename\></h3>

Converts an arbitrary image file (jpeg, png, gif, etc.) to a map file. 

<h3>Usage: ./maptool rotate \<rotation in degrees\> \<in map filename\> \<out map filename\></h3>

Rotates an image file by increments of 90 degrees.

<h3>Usage: ./maptool minimize \<in map filename\> \<out map filename\></h3>

Removes extraneous unknown space around the edge of a map. 

<h3>Usage: ./maptool \<mapfilename\> \<placename\> \<place params\></h3>

Adds a placename to a mapfile. Note that unlike rotate, minimize, etc.,
addplace performs an in-place edit to the map, and creates a backup copy.

       2, 3, or 6 place parameters can be given.
       2 parameters - named position (x, y)
       3 parameters - named pose (x, y, theta)
       6 parameters - initialization position
                      (x, y, theta, std_x, std_y, std_theta)

Remember: The x/y/std_x/std_y co-ordinates are in METRES, not in
grid cells.

Also: theta is in DEGREES. maptool will print out the conversion to radians
automatically for you.

<h3>Usage: ./maptool strip <in map filename> <in map filename> <chunk type></h3>
If the map file contains a data chunk of this type, it will
be removed on output. All other chunks will be passed through untouched.
<chunk type> can be one of "laserscans", "places", "gridmap", "offlimits", 
"expected".

@section clf2linemap clf2linemap

Converts a CARMEN logfile into a line map.

@section map Map

Serves a map server, if param_daemon is not started with a map argument. 

**/
