maptransform.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2004 Brian Gerkey gerkey@stanford.edu
*
* 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
*
*/
/*
* $Id: maptransform.h 7305 2009-01-27 01:18:55Z gbiggs $
*
* Base class for map transform drivers, simply reimplement the transform method
* with your trasformation function. See MapScale for example
*/
#ifndef _MAPTRANSFORM_H_
#define _MAPTRANSFORM_H_
#include <sys/types.h> // required by Darwin
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <libplayercore/playercore.h>
// compute linear index for given map coords
#define MAP_IDX(mf, i, j) ((mf.width) * (j) + (i))
// check that given coords are valid (i.e., on the map)
#define MAP_VALID(mf, i, j) ((i >= 0) && (i < mf.width) && (j >= 0) && (j < mf.height))
class MapTransform : public Driver
{
protected:
player_map_info_t source_map;
player_devaddr_t source_map_addr;
char* source_data;
player_map_info_t new_map;
char* new_data;
// get the map from the underlying map device
int GetMap();
// interpolate the map
virtual int Transform() = 0;
public:
MapTransform(ConfigFile* cf, int section);
virtual ~MapTransform();
// MessageHandler
public: virtual int ProcessMessage(QueuePointer &resp_queue,
player_msghdr * hdr,
void * data);
int Setup();
int Shutdown();
};
#endif
ConfigFile
Class for loading configuration file information.
Definition: configfile.h:196
player_msghdr
Generic message header.
Definition: player.h:157
player_map_info
Definition: player_interfaces.h:3011
player_devaddr
A device address.
Definition: player.h:141
MapTransform::ProcessMessage
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: maptransform.cc:197
MapTransform::Shutdown
int Shutdown()
Finalize the driver.
Definition: maptransform.cc:188
QueuePointer
An autopointer for the message queue.
Definition: message.h:73
MapTransform
Definition: maptransform.h:44
Driver
Base class for all drivers.
Definition: driver.h:108
MapTransform::Setup
int Setup()
Initialize the driver.
Definition: maptransform.cc:54

Last updated 12 September 2005 21:38:45