51 #define MAP_WIFI_MAX_LEVELS 8 73 double origin_x, origin_y;
97 map_t *map_alloc(
void);
100 void map_free(map_t *map);
103 map_cell_t *map_get_cell(map_t *map,
double ox,
double oy,
double oa);
106 int map_load_occ(map_t *map,
const char *filename,
double scale,
int negate);
112 void map_update_cspace(map_t *map,
double max_occ_dist);
120 double map_calc_range(map_t *map,
double ox,
double oy,
double oa,
double max_range);
128 void map_draw_occ(map_t *map,
struct _rtk_fig_t *fig);
131 void map_draw_cspace(map_t *map,
struct _rtk_fig_t *fig);
134 void map_draw_wifi(map_t *map,
struct _rtk_fig_t *fig,
int index);
142 #define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale) 143 #define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale) 146 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2) 147 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2) 150 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y)) 153 #define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)