.. _program_listing_file__tmp_ws_src_navigation2_nav2_amcl_include_nav2_amcl_map_map.hpp:

Program Listing for File map.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_navigation2_nav2_amcl_include_nav2_amcl_map_map.hpp>` (``/tmp/ws/src/navigation2/nav2_amcl/include/nav2_amcl/map/map.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    *  Player - One Hell of a Robot Server
    *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
    *                      gerkey@usc.edu    kaspers@robotics.usc.edu
    *
    *  This library is free software; you can redistribute it and/or
    *  modify it under the terms of the GNU Lesser General Public
    *  License as published by the Free Software Foundation; either
    *  version 2.1 of the License, or (at your option) any later version.
    *
    *  This library is distributed in the hope that it will be useful,
    *  but WITHOUT ANY WARRANTY; without even the implied warranty of
    *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    *  Lesser General Public License for more details.
    *
    *  You should have received a copy of the GNU Lesser General Public
    *  License along with this library; if not, write to the Free Software
    *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
    *
    */
   /**************************************************************************
    * Desc: Global map (grid-based)
    * Author: Andrew Howard
    * Date: 6 Feb 2003
    * CVS: $Id: map.h 1713 2003-08-23 04:03:43Z inspectorg $
    **************************************************************************/
   
   #ifndef NAV2_AMCL__MAP__MAP_HPP_
   #define NAV2_AMCL__MAP__MAP_HPP_
   
   #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;
   
     // Map dimensions (number of cells)
     int size_x, size_y;
   
     // The map data, stored as a grid
     map_cell_t * cells;
   
     // Max distance at which we care about obstacles, for constructing
     // likelihood field
     double max_occ_dist;
   } map_t;
   
   
   /**************************************************************************
    * Basic map functions
    **************************************************************************/
   
   // Create a new (empty) map
   map_t * map_alloc(void);
   
   // Destroy a map
   void map_free(map_t * map);
   
   // 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  // NAV2_AMCL__MAP__MAP_HPP_