<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span> <a name="l00011"></a>00011 <span class="comment"> *</span> <a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00016"></a>00016 <span class="comment"> *</span> <a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> */</span> <a name="l00022"></a>00022 <a name="l00023"></a>00023 <a name="l00024"></a>00024 <span class="comment">/**************************************************************************</span> <a name="l00025"></a>00025 <span class="comment"> * Desc: Global map (grid-based)</span> <a name="l00026"></a>00026 <span class="comment"> * Author: Andrew Howard</span> <a name="l00027"></a>00027 <span class="comment"> * Date: 6 Feb 2003</span> <a name="l00028"></a>00028 <span class="comment"> * CVS: $Id: map.h 8466 2009-12-16 00:51:26Z gbiggs $</span> <a name="l00029"></a>00029 <span class="comment"> **************************************************************************/</span> <a name="l00030"></a>00030 <a name="l00031"></a>00031 <span class="preprocessor">#ifndef MAP_H</span> <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define MAP_H</span> <a name="l00033"></a>00033 <span class="preprocessor"></span> <a name="l00034"></a>00034 <span class="preprocessor">#if !defined (WIN32)</span> <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor"> #include <stdint.h></span> <a name="l00036"></a>00036 <span class="preprocessor">#endif</span> <a name="l00037"></a>00037 <span class="preprocessor"></span> <a name="l00038"></a>00038 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00039"></a>00039 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> { <a name="l00040"></a>00040 <span class="preprocessor">#endif</span> <a name="l00041"></a>00041 <span class="preprocessor"></span> <a name="l00042"></a>00042 <span class="comment">// Forward declarations</span> <a name="l00043"></a>00043 <span class="keyword">struct </span>_rtk_fig_t; <a name="l00044"></a>00044 <a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">// Limits</span> <a name="l00047"></a>00047 <span class="preprocessor">#define MAP_WIFI_MAX_LEVELS 8</span> <a name="l00048"></a>00048 <span class="preprocessor"></span> <a name="l00049"></a>00049 <a name="l00050"></a>00050 <span class="comment">// Description for a single map cell.</span> <a name="l00051"></a><a class="code" href="structmap__cell__t.html">00051</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00052"></a>00052 { <a name="l00053"></a>00053 <span class="comment">// Occupancy state (-1 = free, 0 = unknown, +1 = occ)</span> <a name="l00054"></a>00054 <span class="keywordtype">int</span> occ_state; <a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="comment">// Distance to the nearest occupied cell</span> <a name="l00057"></a>00057 <span class="keywordtype">double</span> occ_dist; <a name="l00058"></a>00058 <a name="l00059"></a>00059 <span class="comment">// Wifi levels</span> <a name="l00060"></a>00060 <span class="keywordtype">int</span> wifi_levels[MAP_WIFI_MAX_LEVELS]; <a name="l00061"></a>00061 <a name="l00062"></a>00062 } <a class="code" href="structmap__cell__t.html">map_cell_t</a>; <a name="l00063"></a>00063 <a name="l00064"></a>00064 <a name="l00065"></a>00065 <span class="comment">// Description for a map</span> <a name="l00066"></a><a class="code" href="structmap__t.html">00066</a> <span class="keyword">typedef</span> <span class="keyword">struct</span> <a name="l00067"></a>00067 { <a name="l00068"></a>00068 <span class="comment">// Map origin; the map is a viewport onto a conceptual larger map.</span> <a name="l00069"></a>00069 <span class="keywordtype">double</span> origin_x, origin_y; <a name="l00070"></a>00070 <a name="l00071"></a>00071 <span class="comment">// Map scale (m/cell)</span> <a name="l00072"></a>00072 <span class="keywordtype">double</span> scale; <a name="l00073"></a>00073 <a name="l00074"></a>00074 <span class="comment">// Max occupancy distance value</span> <a name="l00075"></a>00075 <span class="keywordtype">double</span> max_occ_dist; <a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">// Map dimensions (number of cells)</span> <a name="l00078"></a>00078 <span class="keywordtype">int</span> size_x, size_y; <a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="comment">// The map data, stored as a grid</span> <a name="l00081"></a>00081 <a class="code" href="structmap__cell__t.html">map_cell_t</a> *cells; <a name="l00082"></a>00082 <a name="l00083"></a>00083 } <a class="code" href="structmap__t.html">map_t</a>; <a name="l00084"></a>00084 <a name="l00085"></a>00085 <a name="l00086"></a>00086 <a name="l00087"></a>00087 <span class="comment">/**************************************************************************</span> <a name="l00088"></a>00088 <span class="comment"> * Basic map functions</span> <a name="l00089"></a>00089 <span class="comment"> **************************************************************************/</span> <a name="l00090"></a>00090 <a name="l00091"></a>00091 <span class="comment">// Create a new (empty) map</span> <a name="l00092"></a>00092 <a class="code" href="structmap__t.html">map_t</a> *map_alloc(<span class="keywordtype">void</span>); <a name="l00093"></a>00093 <a name="l00094"></a>00094 <span class="comment">// Destroy a map</span> <a name="l00095"></a>00095 <span class="keywordtype">void</span> map_free(<a class="code" href="structmap__t.html">map_t</a> *map); <a name="l00096"></a>00096 <a name="l00097"></a>00097 <span class="comment">// Get the cell at the given point</span> <a name="l00098"></a>00098 <a class="code" href="structmap__cell__t.html">map_cell_t</a> *map_get_cell(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keywordtype">double</span> ox, <span class="keywordtype">double</span> oy, <span class="keywordtype">double</span> oa); <a name="l00099"></a>00099 <a name="l00100"></a>00100 <span class="comment">// Load an occupancy map</span> <a name="l00101"></a>00101 <span class="keywordtype">int</span> map_load_occ(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keyword">const</span> <span class="keywordtype">char</span> *filename, <span class="keywordtype">double</span> scale, <span class="keywordtype">int</span> negate); <a name="l00102"></a>00102 <a name="l00103"></a>00103 <span class="comment">// Load a wifi signal strength map</span> <a name="l00104"></a>00104 <span class="keywordtype">int</span> map_load_wifi(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keyword">const</span> <span class="keywordtype">char</span> *filename, <span class="keywordtype">int</span> index); <a name="l00105"></a>00105 <a name="l00106"></a>00106 <span class="comment">// Update the cspace distances</span> <a name="l00107"></a>00107 <span class="keywordtype">void</span> map_update_cspace(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keywordtype">double</span> max_occ_dist); <a name="l00108"></a>00108 <a name="l00109"></a>00109 <a name="l00110"></a>00110 <span class="comment">/**************************************************************************</span> <a name="l00111"></a>00111 <span class="comment"> * Range functions</span> <a name="l00112"></a>00112 <span class="comment"> **************************************************************************/</span> <a name="l00113"></a>00113 <a name="l00114"></a>00114 <span class="comment">// Extract a single range reading from the map</span> <a name="l00115"></a>00115 <span class="keywordtype">double</span> map_calc_range(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keywordtype">double</span> ox, <span class="keywordtype">double</span> oy, <span class="keywordtype">double</span> oa, <span class="keywordtype">double</span> max_range); <a name="l00116"></a>00116 <a name="l00117"></a>00117 <a name="l00118"></a>00118 <span class="comment">/**************************************************************************</span> <a name="l00119"></a>00119 <span class="comment"> * GUI/diagnostic functions</span> <a name="l00120"></a>00120 <span class="comment"> **************************************************************************/</span> <a name="l00121"></a>00121 <a name="l00122"></a>00122 <span class="comment">// Draw the occupancy grid</span> <a name="l00123"></a>00123 <span class="keywordtype">void</span> map_draw_occ(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keyword">struct</span> _rtk_fig_t *fig); <a name="l00124"></a>00124 <a name="l00125"></a>00125 <span class="comment">// Draw the cspace map</span> <a name="l00126"></a>00126 <span class="keywordtype">void</span> map_draw_cspace(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keyword">struct</span> _rtk_fig_t *fig); <a name="l00127"></a>00127 <a name="l00128"></a>00128 <span class="comment">// Draw a wifi map</span> <a name="l00129"></a>00129 <span class="keywordtype">void</span> map_draw_wifi(<a class="code" href="structmap__t.html">map_t</a> *map, <span class="keyword">struct</span> _rtk_fig_t *fig, <span class="keywordtype">int</span> index); <a name="l00130"></a>00130 <a name="l00131"></a>00131 <a name="l00132"></a>00132 <span class="comment">/**************************************************************************</span> <a name="l00133"></a>00133 <span class="comment"> * Map manipulation macros</span> <a name="l00134"></a>00134 <span class="comment"> **************************************************************************/</span> <a name="l00135"></a>00135 <a name="l00136"></a>00136 <span class="comment">// Convert from map index to world coords</span> <a name="l00137"></a>00137 <span class="preprocessor">#define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)</span> <a name="l00138"></a>00138 <span class="preprocessor"></span><span class="preprocessor">#define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)</span> <a name="l00139"></a>00139 <span class="preprocessor"></span> <a name="l00140"></a>00140 <span class="comment">// Convert from world coords to map coords</span> <a name="l00141"></a>00141 <span class="preprocessor">#define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)</span> <a name="l00142"></a>00142 <span class="preprocessor"></span><span class="preprocessor">#define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)</span> <a name="l00143"></a>00143 <span class="preprocessor"></span> <a name="l00144"></a>00144 <span class="comment">// Test to see if the given map coords lie within the absolute map bounds.</span> <a name="l00145"></a>00145 <span class="preprocessor">#define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))</span> <a name="l00146"></a>00146 <span class="preprocessor"></span> <a name="l00147"></a>00147 <span class="comment">// Compute the cell index for the given map coords.</span> <a name="l00148"></a>00148 <span class="preprocessor">#define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)</span> <a name="l00149"></a>00149 <span class="preprocessor"></span> <a name="l00150"></a>00150 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00151"></a>00151 <span class="preprocessor"></span>} <a name="l00152"></a>00152 <span class="preprocessor">#endif</span> <a name="l00153"></a>00153 <span class="preprocessor"></span> <a name="l00154"></a>00154 <span class="preprocessor">#endif</span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>