maptransform.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2004 Brian Gerkey gerkey@stanford.edu 00004 * 00005 * This program is free software; you can redistribute it and/or modify 00006 * it under the terms of the GNU General Public License as published by 00007 * the Free Software Foundation; either version 2 of the License, or 00008 * (at your option) any later version. 00009 * 00010 * This program is distributed in the hope that it will be useful, 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 * GNU General Public License for more details. 00014 * 00015 * You should have received a copy of the GNU General Public License 00016 * along with this program; if not, write to the Free Software 00017 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00018 * 00019 */ 00020 00021 /* 00022 * $Id: maptransform.h 4135 2007-08-23 19:58:48Z gerkey $ 00023 * 00024 * Base class for map transform drivers, simply reimplement the transform method 00025 * with your trasformation function. See MapScale for example 00026 */ 00027 00028 #ifndef _MAPTRANSFORM_H_ 00029 #define _MAPTRANSFORM_H_ 00030 00031 #include <sys/types.h> // required by Darwin 00032 #include <netinet/in.h> 00033 #include <stdlib.h> 00034 #include <string.h> 00035 #include <math.h> 00036 00037 #include <libplayercore/playercore.h> 00038 00039 // compute linear index for given map coords 00040 #define MAP_IDX(mf, i, j) ((mf.width) * (j) + (i)) 00041 00042 // check that given coords are valid (i.e., on the map) 00043 #define MAP_VALID(mf, i, j) ((i >= 0) && (i < mf.width) && (j >= 0) && (j < mf.height)) 00044 00045 class MapTransform : public Driver 00046 { 00047 protected: 00048 player_map_info_t source_map; 00049 player_devaddr_t source_map_addr; 00050 char* source_data; 00051 00052 player_map_info_t new_map; 00053 char* new_data; 00054 00055 // get the map from the underlying map device 00056 int GetMap(); 00057 // interpolate the map 00058 virtual int Transform() = 0; 00059 00060 public: 00061 MapTransform(ConfigFile* cf, int section); 00062 virtual ~MapTransform(); 00063 00064 // MessageHandler 00065 public: virtual int ProcessMessage(QueuePointer &resp_queue, 00066 player_msghdr * hdr, 00067 void * data); 00068 00069 int Setup(); 00070 int Shutdown(); 00071 }; 00072 00073 #endif