Fawkes API  Fawkes Development Version
map.h
1 
2 /***************************************************************************
3  * map.h: Global map (grid-based)
4  *
5  * Created: Thu May 24 18:44:56 2012
6  * Copyright 2000 Brian Gerkey
7  * 2000 Kasper Stoy
8  * 2012 Tim Niemueller [www.niemueller.de]
9  ****************************************************************************/
10 
11 /* This program is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2 of the License, or
14  * (at your option) any later version.
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL file in the doc directory.
22  */
23 
24 /* From:
25  * Player - One Hell of a Robot Server (LGPL)
26  * Copyright (C) 2000 Brian Gerkey & Kasper Stoy
27  * gerkey@usc.edu kaspers@robotics.usc.edu
28  */
29 /**************************************************************************
30  * Desc: Global map (grid-based)
31  * Author: Andrew Howard
32  * Date: 6 Feb 2003
33  **************************************************************************/
34 
35 #ifndef MAP_H
36 #define MAP_H
37 
38 #include <stdint.h>
39 
40 #ifdef __cplusplus
41 extern "C" {
42 #endif
43 
44 /// @cond EXTERNAL
45 
46 // Forward declarations
47 struct _rtk_fig_t;
48 
49 // Limits
50 #define MAP_WIFI_MAX_LEVELS 8
51 
52 // Description for a single map cell.
53 typedef struct
54 {
55  // Occupancy state (-1 = free, 0 = unknown, +1 = occ)
56  int occ_state;
57 
58  // Distance to the nearest occupied cell
59  double occ_dist;
60 
61  // Wifi levels
62  //int wifi_levels[MAP_WIFI_MAX_LEVELS];
63 
64 } map_cell_t;
65 
66 // Description for a map
67 typedef struct
68 {
69  // Map origin; the map is a viewport onto a conceptual larger map.
70  double origin_x, origin_y;
71 
72  // Map scale (m/cell)
73  double scale;
74 
75  // Map dimensions (number of cells)
76  int size_x, size_y;
77 
78  // The map data, stored as a grid
79  map_cell_t *cells;
80 
81  // Max distance at which we care about obstacles, for constructing
82  // likelihood field
83  double max_occ_dist;
84 
85 } map_t;
86 
87 /**************************************************************************
88  * Basic map functions
89  **************************************************************************/
90 
91 // Create a new (empty) map
92 map_t *map_alloc(void);
93 
94 // Destroy a map
95 void map_free(map_t *map);
96 
97 // Get the cell at the given point
98 map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa);
99 
100 // Load an occupancy map
101 int map_load_occ(map_t *map, const char *filename, double scale, int negate);
102 
103 // Load a wifi signal strength map
104 //int map_load_wifi(map_t *map, const char *filename, int index);
105 
106 // Update the cspace distances
107 void map_update_cspace(map_t *map, double max_occ_dist);
108 
109 /**************************************************************************
110  * Range functions
111  **************************************************************************/
112 
113 // Extract a single range reading from the map
114 double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range);
115 
116 /**************************************************************************
117  * GUI/diagnostic functions
118  **************************************************************************/
119 
120 // Draw the occupancy grid
121 void map_draw_occ(map_t *map, struct _rtk_fig_t *fig);
122 
123 // Draw the cspace map
124 void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig);
125 
126 // Draw a wifi map
127 void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index);
128 
129 /**************************************************************************
130  * Map manipulation macros
131  **************************************************************************/
132 
133 // Convert from map index to world coords
134 #define MAP_WXGX(map, i) (map->origin_x + ((i)-map->size_x / 2) * map->scale)
135 #define MAP_WYGY(map, j) (map->origin_y + ((j)-map->size_y / 2) * map->scale)
136 
137 // Convert from world coords to map coords
138 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)
139 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)
140 
141 // Test to see if the given map coords lie within the absolute map bounds.
142 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))
143 
144 // Compute the cell index for the given map coords.
145 #define MAP_INDEX(map, i, j) ((i) + (j)*map->size_x)
146 
147 /// @endcond
148 
149 #ifdef __cplusplus
150 }
151 #endif
152 
153 #endif