localization/amcl/map/map.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2003
* Andrew Howard
* Brian Gerkey
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/**************************************************************************
* Desc: Global map (grid-based)
* Author: Andrew Howard
* Date: 6 Feb 2003
* CVS: $Id: map.h 8466 2009-12-16 00:51:26Z gbiggs $
**************************************************************************/
#ifndef MAP_H
#define MAP_H
#if !defined (WIN32)
#include <stdint.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
// Forward declarations
struct _rtk_fig_t;
// Limits
#define MAP_WIFI_MAX_LEVELS 8
// Description for a single map cell.
typedef struct
{
// Occupancy state (-1 = free, 0 = unknown, +1 = occ)
int occ_state;
// Distance to the nearest occupied cell
double occ_dist;
// Wifi levels
int wifi_levels[MAP_WIFI_MAX_LEVELS];
} map_cell_t;
// Description for a map
typedef struct
{
// Map origin; the map is a viewport onto a conceptual larger map.
double origin_x, origin_y;
// Map scale (m/cell)
double scale;
// Max occupancy distance value
double max_occ_dist;
// Map dimensions (number of cells)
int size_x, size_y;
// The map data, stored as a grid
map_cell_t *cells;
} map_t;
/**************************************************************************
* Basic map functions
**************************************************************************/
// Create a new (empty) map
map_t *map_alloc(void);
// Destroy a map
void map_free(map_t *map);
// Get the cell at the given point
map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa);
// Load an occupancy map
int map_load_occ(map_t *map, const char *filename, double scale, int negate);
// Load a wifi signal strength map
int map_load_wifi(map_t *map, const char *filename, int index);
// Update the cspace distances
void map_update_cspace(map_t *map, double max_occ_dist);
/**************************************************************************
* Range functions
**************************************************************************/
// Extract a single range reading from the map
double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range);
/**************************************************************************
* GUI/diagnostic functions
**************************************************************************/
// Draw the occupancy grid
void map_draw_occ(map_t *map, struct _rtk_fig_t *fig);
// Draw the cspace map
void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig);
// Draw a wifi map
void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index);
/**************************************************************************
* Map manipulation macros
**************************************************************************/
// Convert from map index to world coords
#define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)
#define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)
// Convert from world coords to map coords
#define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)
#define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)
// Test to see if the given map coords lie within the absolute map bounds.
#define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))
// Compute the cell index for the given map coords.
#define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)
#ifdef __cplusplus
}
#endif
#endif
map_cell_t
Definition: localization/amcl/map/map.h:51
map_t
Definition: localization/amcl/map/map.h:66

Last updated 12 September 2005 21:38:45