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map.h Go to the documentation of this file. /************************************************************************** * Desc: Global map (grid-based) * Author: Andrew Howard * Date: 6 Feb 2003 * CVS: $Id: map.h,v 1.7 2003/08/23 04:03:43 inspectorg Exp $ **************************************************************************/ #ifndef MAP_H #define MAP_H #include <stdint.h> #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