CeilingMap.cpp

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#include "CeilingMap.h"

CeilingMap::CeilingMap(void)
{
}

CeilingMap::~CeilingMap(void)
{
}

void CeilingMap::ReadNavigationMap(std::string map_name)
{
        LoadImage(map_name);
}

void CeilingMap::SetLocation(unsigned long x, unsigned long y, double theta)
{
        m_CurOdometry.m_x               = x;
        m_CurOdometry.m_y               = y;
        m_CurOdometry.m_theta   = theta;
}

void CeilingMap::SetLocation(CeilingOdometry_st value)
{
        SetLocation(value.m_x, value.m_y, value.m_theta);
}

CeilingOdometry_st      CeilingMap::GetLocation()
{
        return m_CurOdometry;
}

void CeilingMap::IncrementOdometry(long x, long y, double theta)
{
        m_CurOdometry.m_x += x;
        m_CurOdometry.m_y += y;
        m_CurOdometry.m_theta += theta;

        /* �}�P�W�O�x�Ɏ��܂�悤�ɒ������� */
        while (m_CurOdometry.m_theta > M_PI)
                m_CurOdometry.m_theta = -M_PI*2 + m_CurOdometry.m_theta;
        while (m_CurOdometry.m_theta < -M_PI)
                m_CurOdometry.m_theta =  M_PI*2 + m_CurOdometry.m_theta;
}

void CeilingMap::IncrementOdometry(SignedOdometry_st value)
{
        IncrementOdometry(value.m_x, value.m_y, value.m_theta);
}