localization/amcl/map/map.h
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2003
4  * Andrew Howard
5  * Brian Gerkey
6  *
7  * This program is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  *
21  */
22 
23 
24 /**************************************************************************
25  * Desc: Global map (grid-based)
26  * Author: Andrew Howard
27  * Date: 6 Feb 2003
28  * CVS: $Id$
29  **************************************************************************/
30 
31 #ifndef MAP_H
32 #define MAP_H
33 
34 #if !defined (WIN32)
35  #include <stdint.h>
36 #endif
37 
38 #ifdef __cplusplus
39 extern "C" {
40 #endif
41 
42 // Forward declarations
43 struct _rtk_fig_t;
44 
45 
46 // Limits
47 #define MAP_WIFI_MAX_LEVELS 8
48 
49 
50 // Description for a single map cell.
51 typedef struct
52 {
53  // Occupancy state (-1 = free, 0 = unknown, +1 = occ)
54  int occ_state;
55 
56  // Distance to the nearest occupied cell
57  double occ_dist;
58 
59  // Wifi levels
60  int wifi_levels[MAP_WIFI_MAX_LEVELS];
61 
62 } map_cell_t;
63 
64 
65 // Description for a map
66 typedef struct
67 {
68  // Map origin; the map is a viewport onto a conceptual larger map.
69  double origin_x, origin_y;
70 
71  // Map scale (m/cell)
72  double scale;
73 
74  // Max occupancy distance value
75  double max_occ_dist;
76 
77  // Map dimensions (number of cells)
78  int size_x, size_y;
79 
80  unsigned char data_range;
81 
82  // The map data, stored as a grid
83  map_cell_t *cells;
84 
85 } map_t;
86 
87 
88 
89 /**************************************************************************
90  * Basic map functions
91  **************************************************************************/
92 
93 // Create a new (empty) map
94 map_t *map_alloc(void);
95 
96 // Destroy a map
97 void map_free(map_t *map);
98 
99 // Get the cell at the given point
100 map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa);
101 
102 // Load an occupancy map
103 int map_load_occ(map_t *map, const char *filename, double scale, int negate);
104 
105 // Load a wifi signal strength map
106 int map_load_wifi(map_t *map, const char *filename, int index);
107 
108 // Update the cspace distances
109 void map_update_cspace(map_t *map, double max_occ_dist);
110 
111 
112 /**************************************************************************
113  * Range functions
114  **************************************************************************/
115 
116 // Extract a single range reading from the map
117 double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range);
118 
119 
120 /**************************************************************************
121  * GUI/diagnostic functions
122  **************************************************************************/
123 
124 // Draw the occupancy grid
125 void map_draw_occ(map_t *map, struct _rtk_fig_t *fig);
126 
127 // Draw the cspace map
128 void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig);
129 
130 // Draw a wifi map
131 void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index);
132 
133 
134 /**************************************************************************
135  * Map manipulation macros
136  **************************************************************************/
137 
138 // Convert from map index to world coords
139 #define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)
140 #define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)
141 
142 // Convert from world coords to map coords
143 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)
144 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)
145 
146 // Test to see if the given map coords lie within the absolute map bounds.
147 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))
148 
149 // Compute the cell index for the given map coords.
150 #define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)
151 
152 #ifdef __cplusplus
153 }
154 #endif
155 
156 #endif
Definition: mixed/mricp/include/map.h:34
Definition: mixed/mricp/include/map.h:27
Definition: localization/amcl/map/map.h:65
Definition: localization/amcl/map/map.h:50