Fawkes API  Fawkes Development Version
map.h
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 #ifndef MAP_H
00036 #define MAP_H
00037 
00038 #include <stdint.h>
00039 
00040 #ifdef __cplusplus
00041 extern "C" {
00042 #endif
00043 
00044 /// @cond EXTERNAL
00045 
00046 // Forward declarations
00047 struct _rtk_fig_t;
00048 
00049   
00050 // Limits
00051 #define MAP_WIFI_MAX_LEVELS 8
00052 
00053   
00054 // Description for a single map cell.
00055 typedef struct
00056 {
00057   // Occupancy state (-1 = free, 0 = unknown, +1 = occ)
00058   int occ_state;
00059 
00060   // Distance to the nearest occupied cell
00061   double occ_dist;
00062 
00063   // Wifi levels
00064   //int wifi_levels[MAP_WIFI_MAX_LEVELS];
00065 
00066 } map_cell_t;
00067 
00068 
00069 // Description for a map
00070 typedef struct
00071 {
00072   // Map origin; the map is a viewport onto a conceptual larger map.
00073   double origin_x, origin_y;
00074   
00075   // Map scale (m/cell)
00076   double scale;
00077 
00078   // Map dimensions (number of cells)
00079   int size_x, size_y;
00080   
00081   // The map data, stored as a grid
00082   map_cell_t *cells;
00083 
00084   // Max distance at which we care about obstacles, for constructing
00085   // likelihood field
00086   double max_occ_dist;
00087   
00088 } map_t;
00089 
00090 
00091 
00092 /**************************************************************************
00093  * Basic map functions
00094  **************************************************************************/
00095 
00096 // Create a new (empty) map
00097 map_t *map_alloc(void);
00098 
00099 // Destroy a map
00100 void map_free(map_t *map);
00101 
00102 // Get the cell at the given point
00103 map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa);
00104 
00105 // Load an occupancy map
00106 int map_load_occ(map_t *map, const char *filename, double scale, int negate);
00107 
00108 // Load a wifi signal strength map
00109 //int map_load_wifi(map_t *map, const char *filename, int index);
00110 
00111 // Update the cspace distances
00112 void map_update_cspace(map_t *map, double max_occ_dist);
00113 
00114 
00115 /**************************************************************************
00116  * Range functions
00117  **************************************************************************/
00118 
00119 // Extract a single range reading from the map
00120 double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range);
00121 
00122 
00123 /**************************************************************************
00124  * GUI/diagnostic functions
00125  **************************************************************************/
00126 
00127 // Draw the occupancy grid
00128 void map_draw_occ(map_t *map, struct _rtk_fig_t *fig);
00129 
00130 // Draw the cspace map
00131 void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig);
00132 
00133 // Draw a wifi map
00134 void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index);
00135 
00136 
00137 /**************************************************************************
00138  * Map manipulation macros
00139  **************************************************************************/
00140 
00141 // Convert from map index to world coords
00142 #define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)
00143 #define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)
00144 
00145 // Convert from world coords to map coords
00146 #define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)
00147 #define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)
00148 
00149 // Test to see if the given map coords lie within the absolute map bounds.
00150 #define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))
00151 
00152 // Compute the cell index for the given map coords.
00153 #define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)
00154 
00155 /// @endcond
00156 
00157 #ifdef __cplusplus
00158 }
00159 #endif
00160 
00161 #endif