#include <stdint.h>
#include "gmcl/pf/pf.h"

Include dependency graph for map.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	energy_map_t

struct	energy_pose_t

struct	lsensor_scan_t

struct	map_cell_t

struct	map_t

Macros
#define	MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)

#define	MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)

#define	MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)

#define	MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))

#define	MAP_WIFI_MAX_LEVELS 8

#define	MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)

#define	MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)

Functions
energy_map_t *	energy_map_alloc (map_t *map, double resoultion_x, double resoultion_y, size_t max_beams, double laser_min_range, double laser_max_range)

void	energy_map_free (energy_map_t *energy_map)

map_t *	map_alloc (void)

double	map_calc_range (map_t *map, double ox, double oy, double oa, double max_range)

void	map_calc_SER (energy_map_t energy_map, lsensor_scan_t laser_scan)

void	map_clear_SER (energy_map_t *energy_map)

void	map_diff_SER (energy_map_t *energy_map)

void	map_draw_cspace (map_t map, struct _rtk_fig_t fig)

void	map_draw_occ (map_t map, struct _rtk_fig_t fig)

void	map_draw_wifi (map_t map, struct _rtk_fig_t fig, int index)

void	map_free (map_t *map)

map_cell_t *	map_get_cell (map_t *map, double ox, double oy, double oa)

int	map_load_occ (map_t map, const char filename, double scale, int negate)

void	map_update_cspace (map_t *map, double max_occ_dist)

void	map_update_espace (energy_map_t energy_map, map_t map, lsensor_scan_t *laser_scan)

Macro Definition Documentation

◆ MAP_GXWX

#define MAP_GXWX	(	map,
		x
	)	(floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)

Definition at line 200 of file map.h.

◆ MAP_GYWY

#define MAP_GYWY	(	map,
		y
	)	(floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)

Definition at line 201 of file map.h.

◆ MAP_INDEX

#define MAP_INDEX	(	map,
		i,
		j
	)	((i) + (j) * map->size_x)

Definition at line 207 of file map.h.

◆ MAP_VALID

#define MAP_VALID	(	map,
		i,
		j
	)	((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))

Definition at line 204 of file map.h.

◆ MAP_WIFI_MAX_LEVELS

#define MAP_WIFI_MAX_LEVELS 8

Definition at line 49 of file map.h.

◆ MAP_WXGX

#define MAP_WXGX	(	map,
		i
	)	(map->origin_x + ((i) - map->size_x / 2) * map->scale)

Definition at line 196 of file map.h.

◆ MAP_WYGY

#define MAP_WYGY	(	map,
		j
	)	(map->origin_y + ((j) - map->size_y / 2) * map->scale)

Definition at line 197 of file map.h.

Function Documentation

◆ energy_map_alloc()

energy_map_t* energy_map_alloc	(	map_t *	map,
		double	resoultion_x,
		double	resoultion_y,
		size_t	max_beams,
		double	laser_min_range,
		double	laser_max_range
	)

Definition at line 68 of file map.c.

◆ energy_map_free()

void energy_map_free ( energy_map_t * energy_map )

Definition at line 129 of file map.c.

◆ map_alloc()

map_t* map_alloc ( void )

Definition at line 46 of file map.c.

◆ map_calc_range()

double map_calc_range	(	map_t *	map,
		double	ox,
		double	oy,
		double	oa,
		double	max_range
	)

Definition at line 46 of file map_range.c.

◆ map_calc_SER()

void map_calc_SER	(	energy_map_t *	energy_map,
		lsensor_scan_t *	laser_scan
	)

Definition at line 79 of file map_espace.cpp.

◆ map_clear_SER()

void map_clear_SER ( energy_map_t * energy_map )

Definition at line 103 of file map_espace.cpp.

◆ map_diff_SER()

void map_diff_SER ( energy_map_t * energy_map )

Definition at line 110 of file map_espace.cpp.

◆ map_draw_cspace()

void map_draw_cspace	(	map_t *	map,
		struct _rtk_fig_t *	fig
	)

◆ map_draw_occ()

void map_draw_occ	(	map_t *	map,
		struct _rtk_fig_t *	fig
	)

◆ map_draw_wifi()

void map_draw_wifi	(	map_t *	map,
		struct _rtk_fig_t *	fig,
		int	index
	)

◆ map_free()

void map_free ( map_t * map )

Definition at line 122 of file map.c.

◆ map_get_cell()

map_cell_t* map_get_cell	(	map_t *	map,
		double	ox,
		double	oy,
		double	oa
	)

Definition at line 137 of file map.c.

◆ map_load_occ()

int map_load_occ	(	map_t *	map,
		const char *	filename,
		double	scale,
		int	negate
	)

Definition at line 47 of file map_store.c.

◆ map_update_cspace()

void map_update_cspace	(	map_t *	map,
		double	max_occ_dist
	)

Definition at line 128 of file map_cspace.cpp.

◆ map_update_espace()

void map_update_espace	(	energy_map_t *	energy_map,
		map_t *	map,
		lsensor_scan_t *	laser_scan
	)

Definition at line 36 of file map_espace.cpp.

Classes

Macros

Functions