map_test.cpp

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#include <iostream>
#include "gmapping/grid/map.h"
#include "gmapping/grid/harray2d.h"
 
using namespace std;
using namespace GMapping;
 
struct SimpleCell{
        int value;
        SimpleCell(int v=0){value=v;}
        static const SimpleCell& Unknown();
        static SimpleCell* address;
};
 
SimpleCell* SimpleCell::address=0;
 
const SimpleCell& SimpleCell::Unknown(){
        if (address)
                return *address;
        address=new SimpleCell(-1);
        return *address;
}
 
typedef Map< SimpleCell, HierarchicalArray2D<SimpleCell> > CGrid;
 
int main (int argc, char ** argv){
        CGrid g1(Point(0.,0.), 200, 200, 0.1);
        CGrid g2(Point(10.,10.), 200, 200, 0.1);
        {
                HierarchicalArray2D<SimpleCell>::PointSet ps;
                IntPoint pp=g1.world2map(Point(5.1,5.1));
                cout << pp.x << " " << pp.y << endl;
                ps.insert(pp);
                g1.storage().setActiveArea(ps,false);
                g1.storage().allocActiveArea();
                g1.cell(Point(5.1,5.1)).value=5;
                cout << "cell value" << (int) g1.cell(Point(5.1,5.1)).value << endl;
                g1.resize(-150, -150, 150, 150);
                cout << "cell value" << (int) g1.cell(Point(5.1,5.1)).value << endl;
                CGrid g3(g1);
                g1=g2;
        }
        cerr << "copy and modify test" << endl;
        CGrid *ap,* gp1=new CGrid(Point(0,0), 200, 200, 0.1);
        CGrid* gp0=new CGrid(*gp1);
        for (int i=1; i<10; i++){
          ap=new CGrid(*gp1);
          delete gp1;
          gp1=gp0;
          gp0=ap;
          IntPoint pp=gp0->world2map(Point(5.1,5.1));
          HierarchicalArray2D<SimpleCell>::PointSet ps;
          ps.insert(pp);
          gp1->storage().setActiveArea(ps,false);       
          gp1->storage().allocActiveArea();
          gp1->cell(Point(5.1,5.1)).value=i;
          cout << "cell value" << (int) gp1->cell(Point(5.1,5.1)).value << endl;
        }
        delete gp0;
        delete gp1;
        return 0;
}