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amcl
map
map.c
Go to the documentation of this file.
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
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* gerkey@usc.edu kaspers@robotics.usc.edu
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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*/
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/**************************************************************************
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* Desc: Global map (grid-based)
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* Author: Andrew Howard
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* Date: 6 Feb 2003
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* CVS: $Id: map.c 1713 2003-08-23 04:03:43Z inspectorg $
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**************************************************************************/
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#include <
assert.h
>
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#include <math.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include "
amcl/map/map.h
"
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// Create a new map
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map_t
*
map_alloc
(
void
)
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{
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map_t
*map;
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map = (
map_t
*) malloc(
sizeof
(
map_t
));
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// Assume we start at (0, 0)
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map->
origin_x
= 0;
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map->
origin_y
= 0;
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// Make the size odd
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map->
size_x
= 0;
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map->
size_y
= 0;
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map->
scale
= 0;
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// Allocate storage for main map
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map->
cells
= (
map_cell_t
*) NULL;
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return
map;
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}
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// Destroy a map
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void
map_free
(
map_t
*map)
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{
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free(map->
cells
);
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free(map);
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return
;
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}
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// Get the cell at the given point
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map_cell_t
*
map_get_cell
(
map_t
*map,
double
ox,
double
oy,
double
oa)
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{
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int
i, j;
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map_cell_t
*cell;
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i =
MAP_GXWX
(map, ox);
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j =
MAP_GYWY
(map, oy);
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if
(!
MAP_VALID
(map, i, j))
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return
NULL;
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cell = map->
cells
+
MAP_INDEX
(map, i, j);
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return
cell;
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}
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MAP_GXWX
#define MAP_GXWX(map, x)
Definition:
map.h:137
map_free
void map_free(map_t *map)
Definition:
map.c:61
MAP_VALID
#define MAP_VALID(map, i, j)
Definition:
map.h:141
map_t::cells
map_cell_t * cells
Definition:
map.h:73
map_cell_t
Definition:
map.h:46
map_t::size_y
int size_y
Definition:
map.h:70
MAP_INDEX
#define MAP_INDEX(map, i, j)
Definition:
map.h:144
map_t::origin_x
double origin_x
Definition:
map.h:64
map_alloc
map_t * map_alloc(void)
Definition:
map.c:38
map_t::scale
double scale
Definition:
map.h:67
MAP_GYWY
#define MAP_GYWY(map, y)
Definition:
map.h:138
map_t::size_x
int size_x
Definition:
map.h:70
assert.h
map_t::origin_y
double origin_y
Definition:
map.h:64
map_t
Definition:
map.h:61
map_get_cell
map_cell_t * map_get_cell(map_t *map, double ox, double oy, double oa)
Definition:
map.c:70
map.h
amcl
Author(s): Brian P. Gerkey, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:09