45 map_t *map_alloc(
void)
49 map = (map_t*) malloc(
sizeof(map_t));
61 map->cells = (map_cell_t*) NULL;
68 void map_free(map_t *map)
77 map_cell_t *map_get_cell(map_t *map,
double ox,
double oy,
double oa)
82 i = MAP_GXWX(map, ox);
83 j = MAP_GYWY(map, oy);
85 if (!MAP_VALID(map, i, j))
88 cell = map->cells + MAP_INDEX(map, i, j);