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<h1>gridmap.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// objects definitions</span>
<a name="l00002"></a>00002 <span class="preprocessor">#if !defined(WIN32)</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span><span class="preprocessor"> #include <unistd.h></span>
<a name="l00004"></a>00004 <span class="preprocessor"> #include <netinet/in.h></span>
<a name="l00005"></a>00005 <span class="preprocessor">#endif</span>
<a name="l00006"></a>00006 <span class="preprocessor"></span><span class="preprocessor">#include <string.h></span>
<a name="l00007"></a>00007 <span class="preprocessor">#include <math.h></span>
<a name="l00008"></a>00008 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00009"></a>00009 <span class="preprocessor">#include <iostream></span>
<a name="l00010"></a>00010 <span class="preprocessor">#include <map></span> <span class="comment">//stl</span>
<a name="l00011"></a>00011 <span class="comment">/*</span>
<a name="l00012"></a>00012 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00013"></a>00013 <span class="comment"> * Copyright (C) 2003 </span>
<a name="l00014"></a>00014 <span class="comment"> * Brian Gerkey, Andrew Howard</span>
<a name="l00015"></a>00015 <span class="comment"> * </span>
<a name="l00016"></a>00016 <span class="comment"> * </span>
<a name="l00017"></a>00017 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00018"></a>00018 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00019"></a>00019 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00020"></a>00020 <span class="comment"> * (at your option) any later version.</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00023"></a>00023 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00024"></a>00024 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00025"></a>00025 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00028"></a>00028 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00029"></a>00029 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00030"></a>00030 <span class="comment"> *</span>
<a name="l00031"></a>00031 <span class="comment"> */</span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">/*</span>
<a name="l00034"></a>00034 <span class="comment"> * Desc: A Mapping driver which maps from sonar data</span>
<a name="l00035"></a>00035 <span class="comment"> * from the multidriver example by Andrew Howard</span>
<a name="l00036"></a>00036 <span class="comment"> * Author: Marco Paladini, (mail: breakthru@inwind.it)</span>
<a name="l00037"></a>00037 <span class="comment"> * Date: 29 April 2006</span>
<a name="l00038"></a>00038 <span class="comment"> */</span>
<a name="l00040"></a>00040 <span class="preprocessor">#define LOCAL2GLOBAL_X(x,y,px,py,pa) (cos(pa)*(x) - sin(pa)*(y) + px)</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#define LOCAL2GLOBAL_Y(x,y,px,py,pa) (sin(pa)*(x) + cos(pa)*(y) + py)</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define MAP_INDEX(map, i, j) (int)((i) + (j) * map.width)</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define MAP_VALID(map, i, j) ((i >= 0) && (i <= (int)map.width) && (j >= 0) && (j <= (int)map.height))</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define ROTATE_X(x,y,th) (cos(th)*(x) - sin(th)*(y))</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define ROTATE_Y(x,y,th) (sin(th)*(x) + cos(th)*(y))</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>std;
<a name="l00048"></a>00048
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classSonar.html">00050</a> <span class="keyword">class </span><a class="code" href="classSonar.html">Sonar</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053 <span class="keywordtype">double</span> px,py,th;
<a name="l00054"></a>00054 <span class="keywordtype">double</span> sonar_treshold; <span class="comment">//default to 4.5</span>
<a name="l00055"></a>00055 <span class="keywordtype">double</span> sonar_aperture; <span class="comment">// 30 degrees</span>
<a name="l00056"></a>00056 <span class="keywordtype">double</span> sensor_model(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> y,<span class="keywordtype">double</span> r);
<a name="l00057"></a>00057 <a class="code" href="classSonar.html">Sonar</a>()
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 sonar_treshold=4.5;
<a name="l00060"></a>00060 sonar_aperture=0.5235987;
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 };
<a name="l00063"></a>00063
<a name="l00064"></a><a class="code" href="classMAP__POINT.html">00064</a> <span class="keyword">class </span><a class="code" href="classMAP__POINT.html">MAP_POINT</a>
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <span class="keyword">public</span>:
<a name="l00067"></a>00067 <span class="keywordtype">int</span> x;
<a name="l00068"></a>00068 <span class="keywordtype">int</span> y; <span class="comment">// coordinates on map</span>
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <a class="code" href="classMAP__POINT.html">MAP_POINT</a>(<span class="keywordtype">int</span> x1,<span class="keywordtype">int</span> y1)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 x=x1;
<a name="l00073"></a>00073 y=y1;
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="keywordtype">bool</span> operator<(<span class="keyword">const</span> <a class="code" href="classMAP__POINT.html">MAP_POINT</a> &b)<span class="keyword"> const </span>{
<a name="l00077"></a>00077 <span class="keywordflow">if</span> (x < b.x) <span class="keywordflow">return</span>(1);
<a name="l00078"></a>00078 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (x == b.x) <span class="keywordflow">return</span>(y < b.y);
<a name="l00079"></a>00079 <span class="keywordflow">else</span> <span class="keywordflow">return</span>(0);
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 };
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classMAP__POSE.html">00084</a> <span class="keyword">class </span><a class="code" href="classMAP__POSE.html">MAP_POSE</a>
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <span class="keyword">public</span>:
<a name="l00087"></a>00087 <span class="keywordtype">double</span> px;
<a name="l00088"></a>00088 <span class="keywordtype">double</span> py;
<a name="l00089"></a>00089 <span class="keywordtype">double</span> pa; <span class="comment">// where the robot was when this point was added</span>
<a name="l00090"></a>00090 <span class="keywordtype">double</span> P; <span class="comment">// occupancy probability</span>
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <a class="code" href="classMAP__POSE.html">MAP_POSE</a>()
<a name="l00093"></a>00093 {pa=px=py=P=0;}
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <a class="code" href="classMAP__POSE.html">MAP_POSE</a>(<span class="keywordtype">double</span> px1,
<a name="l00096"></a>00096 <span class="keywordtype">double</span> py1,
<a name="l00097"></a>00097 <span class="keywordtype">double</span> pa1,
<a name="l00098"></a>00098 <span class="keywordtype">double</span> P1) {
<a name="l00099"></a>00099 pa=pa1;
<a name="l00100"></a>00100 px=px1;
<a name="l00101"></a>00101 py=py1;
<a name="l00102"></a>00102 P=P1;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106
<a name="l00107"></a>00107
<a name="l00108"></a><a class="code" href="classMap.html">00108</a> <span class="keyword">class </span><a class="code" href="classMap.html">Map</a> : <span class="keyword">public</span> map<MAP_POINT,MAP_POSE>
<a name="l00109"></a>00109 {
<a name="l00113"></a>00113 <span class="keyword">public</span>:
<a name="l00114"></a><a class="code" href="classMap.html#a9ecfe932ad2d2bc22492416033bdacfd">00114</a> <span class="keywordtype">int</span> width;
<a name="l00115"></a>00115 <span class="keywordtype">int</span> height;
<a name="l00116"></a>00116 <span class="keywordtype">int</span> startx;
<a name="l00117"></a>00117 <span class="keywordtype">int</span> starty;
<a name="l00118"></a>00118 <span class="keywordtype">float</span> scale; <span class="comment">//default to 0.028</span>
<a name="l00119"></a>00119 <span class="keywordtype">float</span> sonar_treshold; <span class="comment">//default to 4.5</span>
<a name="l00120"></a>00120 <a class="code" href="classMap.html">Map</a>();
<a name="l00121"></a>00121 <a class="code" href="classMap.html">Map</a>(<span class="keywordtype">int</span> width,
<a name="l00122"></a>00122 <span class="keywordtype">int</span> height,
<a name="l00123"></a>00123 <span class="keywordtype">int</span> startx,
<a name="l00124"></a>00124 <span class="keywordtype">int</span> starty,
<a name="l00125"></a>00125 <span class="keywordtype">int</span> scale,
<a name="l00126"></a>00126 <span class="keywordtype">int</span> sonar_treshold);
<a name="l00127"></a>00127 ~<a class="code" href="classMap.html">Map</a>();
<a name="l00128"></a>00128 <a class="code" href="structplayer__map__data.html" title="Request/reply: get grid map tile.">player_map_data_t</a> ToPlayer();
<a name="l00129"></a>00129 };
<a name="l00130"></a>00130
<a name="l00131"></a>00131 Map::~Map() {
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a>00134 Map::Map()
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136 <span class="comment">//some default values (not always good)</span>
<a name="l00137"></a>00137 <a class="code" href="classMap.html#a9ecfe932ad2d2bc22492416033bdacfd" title="the map is defined as x,y -&gt; pose (px,py,pa,P)">width</a>=800;
<a name="l00138"></a>00138 height=800;
<a name="l00139"></a>00139 startx=0;
<a name="l00140"></a>00140 starty=0;
<a name="l00141"></a>00141 scale=0.028f;
<a name="l00142"></a>00142 sonar_treshold=4.5;
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144
<a name="l00145"></a>00145 Map::Map(<span class="keywordtype">int</span> width,
<a name="l00146"></a>00146 <span class="keywordtype">int</span> height,
<a name="l00147"></a>00147 <span class="keywordtype">int</span> startx,
<a name="l00148"></a>00148 <span class="keywordtype">int</span> starty,
<a name="l00149"></a>00149 <span class="keywordtype">int</span> scale,
<a name="l00150"></a>00150 <span class="keywordtype">int</span> sonar_treshold)
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 std::cout<< <span class="stringliteral">"not implemented yet"</span> << std::endl;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00155"></a>00155
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="keywordtype">double</span> Sonar::sensor_model(<span class="keywordtype">double</span> x,<span class="keywordtype">double</span> y,<span class="keywordtype">double</span> r)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 <span class="keywordflow">return</span>(
<a name="l00160"></a>00160 exp((-pow(x,2)/r)-(pow(y,2)/sonar_aperture))/((<span class="keywordtype">double</span>)1.7)
<a name="l00161"></a>00161 );
<a name="l00162"></a>00162
<a name="l00163"></a>00163 }
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