42 #define MAP_WIFI_MAX_LEVELS 8 133 #define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale) 134 #define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale) 137 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2) 138 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2) 141 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y)) 144 #define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x) void map_update_cspace(map_t *map, double max_occ_dist)
int map_load_occ(map_t *map, const char *filename, double scale, int negate)
double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range)
map_cell_t * map_get_cell(map_t *map, double ox, double oy, double oa)
void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig)
void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index)
void map_draw_occ(map_t *map, struct _rtk_fig_t *fig)
void map_free(map_t *map)