bwi_mapper: map_utils.h Source File

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00001 
00038 #ifndef MAP_UTILS_UZH9ILKD
00039 #define MAP_UTILS_UZH9ILKD
00040 
00041 #include <bwi_mapper/structures/point.h>
00042 #include <nav_msgs/MapMetaData.h>
00043 #include <nav_msgs/OccupancyGrid.h>
00044 
00045 // compute linear index for given map coords
00046 #define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
00047 
00048 namespace bwi_mapper {
00049 
00050   bool locationsInDirectLineOfSight(const Point2f& pt1, const Point2f& pt2, 
00051       const nav_msgs::OccupancyGrid map);
00052 
00053   Point2f toMap(const Point2f& pt, const nav_msgs::MapMetaData& info);
00054 
00055   Point2f toGrid(const Point2f& pt, const nav_msgs::MapMetaData& info);
00056   
00057 } /* bwi_mapper */
00058 
00059 
00060 #endif /* end of include guard: MAP_UTILS_UZH9ILKD */