crsm_map.h

Go to the documentation of this file.

/*
 *      This file is part of CrsmSlam.
    CrsmSlam is free software: you can redistribute it and/or modify 
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    CrsmSlam 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 General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with CrsmSlam.  If not, see <http://www.gnu.org/licenses/>.
* 
* Author : Manos Tsardoulias, etsardou@gmail.com
* Organization : AUTH, PANDORA Robotics Team
* */

#ifndef CRSM_MAP_HEADER
#define CRSM_MAP_HEADER

#include "crsm_mapInfo.h"
#include <map>

namespace crsm_slam{
        
        enum CrsmDirection{
                RIGHT,
                LEFT,
                UP,
                DOWN
        };

        struct CrsmExpansion{
                std::map<CrsmDirection,int> expansions;
        };
        
        class CrsmMap{
        public:

                unsigned char **p;                      
                CrsmMapInfo info;
                
                CrsmMap(){};
                
                CrsmMap(unsigned int size_);
                
                void expandMap(CrsmExpansion exp);
        };

}
#endif