CeilingMap.h

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#pragma once

#include "intellirobotStub.h"
#include "std_hdr.h"
#include "ImageData.h"

typedef struct _tag_CeilingOdometry
{
        unsigned long   m_x;
        unsigned long   m_y;
        double                  m_theta;
} CeilingOdometry_st, *CeilingOdometry_pst;

typedef struct _tag_SignedOdometry
{
        long    m_x;
        long    m_y;
        double  m_theta;
} SignedOdometry_st, *SignedOdometry_pst;

class CeilingMap : public ImageData
{
public:
        CeilingMap(void);
        ~CeilingMap(void);

        void ReadNavigationMap(std::string map_name);
        void SetLocation(unsigned long x, unsigned long y, double theta);
        void SetLocation(CeilingOdometry_st value);
        CeilingOdometry_st      GetLocation();
        void IncrementOdometry(long x, long y, double theta);
        void IncrementOdometry(SignedOdometry_st value);

        double  GetTheta()      { return m_CurOdometry.m_theta; }

        unsigned long   GetPosX()       { return m_CurOdometry.m_x; }

        unsigned long   GetPosY()       { return m_CurOdometry.m_y; }

private:
        CeilingOdometry_st      m_CurOdometry;  /* �Ώۂ̈ʒu���       */
};