map.h
Go to the documentation of this file.00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy 00004 * gerkey@usc.edu kaspers@robotics.usc.edu 00005 * 00006 * This library is free software; you can redistribute it and/or 00007 * modify it under the terms of the GNU Lesser General Public 00008 * License as published by the Free Software Foundation; either 00009 * version 2.1 of the License, or (at your option) any later version. 00010 * 00011 * This library is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00014 * Lesser General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU Lesser General Public 00017 * License along with this library; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /************************************************************************** 00022 * Desc: Global map (grid-based) 00023 * Author: Andrew Howard 00024 * Date: 6 Feb 2003 00025 * CVS: $Id: map.h 1713 2003-08-23 04:03:43Z inspectorg $ 00026 **************************************************************************/ 00027 00028 #ifndef MAP_H 00029 #define MAP_H 00030 00031 #include <stdint.h> 00032 00033 #ifdef __cplusplus 00034 extern "C" { 00035 #endif 00036 00037 // Forward declarations 00038 struct _rtk_fig_t; 00039 00040 00041 // Limits 00042 #define MAP_WIFI_MAX_LEVELS 8 00043 00044 00045 // Description for a single map cell. 00046 typedef struct 00047 { 00048 // Occupancy state (-1 = free, 0 = unknown, +1 = occ) 00049 int occ_state; 00050 00051 // Distance to the nearest occupied cell 00052 double occ_dist; 00053 00054 // Wifi levels 00055 //int wifi_levels[MAP_WIFI_MAX_LEVELS]; 00056 00057 } map_cell_t; 00058 00059 00060 // Description for a map 00061 typedef struct 00062 { 00063 // Map origin; the map is a viewport onto a conceptual larger map. 00064 double origin_x, origin_y; 00065 00066 // Map scale (m/cell) 00067 double scale; 00068 00069 // Map dimensions (number of cells) 00070 int size_x, size_y; 00071 00072 // The map data, stored as a grid 00073 map_cell_t *cells; 00074 00075 // Max distance at which we care about obstacles, for constructing 00076 // likelihood field 00077 double max_occ_dist; 00078 00079 } map_t; 00080 00081 00082 00083 /************************************************************************** 00084 * Basic map functions 00085 **************************************************************************/ 00086 00087 // Create a new (empty) map 00088 map_t *map_alloc(void); 00089 00090 // Destroy a map 00091 void map_free(map_t *map); 00092 00093 // Get the cell at the given point 00094 map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa); 00095 00096 // Load an occupancy map 00097 int map_load_occ(map_t *map, const char *filename, double scale, int negate); 00098 00099 // Load a wifi signal strength map 00100 //int map_load_wifi(map_t *map, const char *filename, int index); 00101 00102 // Update the cspace distances 00103 void map_update_cspace(map_t *map, double max_occ_dist); 00104 00105 00106 /************************************************************************** 00107 * Range functions 00108 **************************************************************************/ 00109 00110 // Extract a single range reading from the map 00111 double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range); 00112 00113 00114 /************************************************************************** 00115 * GUI/diagnostic functions 00116 **************************************************************************/ 00117 00118 // Draw the occupancy grid 00119 void map_draw_occ(map_t *map, struct _rtk_fig_t *fig); 00120 00121 // Draw the cspace map 00122 void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig); 00123 00124 // Draw a wifi map 00125 void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index); 00126 00127 00128 /************************************************************************** 00129 * Map manipulation macros 00130 **************************************************************************/ 00131 00132 // Convert from map index to world coords 00133 #define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale) 00134 #define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale) 00135 00136 // Convert from world coords to map coords 00137 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2) 00138 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2) 00139 00140 // Test to see if the given map coords lie within the absolute map bounds. 00141 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y)) 00142 00143 // Compute the cell index for the given map coords. 00144 #define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x) 00145 00146 #ifdef __cplusplus 00147 } 00148 #endif 00149 00150 #endif