Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * map.h: Global map (grid-based) 00004 * 00005 * Created: Thu May 24 18:44:56 2012 00006 * Copyright 2000 Brian Gerkey 00007 * 2000 Kasper Stoy 00008 * 2012 Tim Niemueller [www.niemueller.de] 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL file in the doc directory. 00022 */ 00023 00024 /* From: 00025 * Player - One Hell of a Robot Server (LGPL) 00026 * Copyright (C) 2000 Brian Gerkey & Kasper Stoy 00027 * gerkey@usc.edu kaspers@robotics.usc.edu 00028 */ 00029 /************************************************************************** 00030 * Desc: Global map (grid-based) 00031 * Author: Andrew Howard 00032 * Date: 6 Feb 2003 00033 **************************************************************************/ 00034 00035 #include <math.h> 00036 #include <stdlib.h> 00037 #include <string.h> 00038 #include <stdio.h> 00039 00040 #include "map.h" 00041 00042 /// @cond EXTERNAL 00043 00044 // Create a new map 00045 map_t *map_alloc(void) 00046 { 00047 map_t *map; 00048 00049 map = (map_t*) malloc(sizeof(map_t)); 00050 00051 // Assume we start at (0, 0) 00052 map->origin_x = 0; 00053 map->origin_y = 0; 00054 00055 // Make the size odd 00056 map->size_x = 0; 00057 map->size_y = 0; 00058 map->scale = 0; 00059 00060 // Allocate storage for main map 00061 map->cells = (map_cell_t*) NULL; 00062 00063 return map; 00064 } 00065 00066 00067 // Destroy a map 00068 void map_free(map_t *map) 00069 { 00070 free(map->cells); 00071 free(map); 00072 return; 00073 } 00074 00075 00076 // Get the cell at the given point 00077 map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa) 00078 { 00079 int i, j; 00080 map_cell_t *cell; 00081 00082 i = MAP_GXWX(map, ox); 00083 j = MAP_GYWY(map, oy); 00084 00085 if (!MAP_VALID(map, i, j)) 00086 return NULL; 00087 00088 cell = map->cells + MAP_INDEX(map, i, j); 00089 return cell; 00090 } 00091 00092 /// @endcond