From 00de604e1be0af60cd6321614e0a076aae9bc278 Mon Sep 17 00:00:00 2001
From: "Simon D. Levy" <simon.d.levy@gmail.com>
Date: Sun, 7 Sep 2014 20:57:44 -0400
Subject: [PATCH] Create Map.cpp

---
 cpp/Map.cpp | 79 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 cpp/Map.cpp

diff --git a/cpp/Map.cpp b/cpp/Map.cpp
new file mode 100644
index 0000000..44c2cd6
--- /dev/null
+++ b/cpp/Map.cpp
@@ -0,0 +1,79 @@
+/**
+* 
+* \mainpage BreezySLAM: Simple, efficient SLAM in C++
+*
+* Map.cpp - implementation for Map class
+*
+* Copyright (C) 2014 Simon D. Levy
+
+* This code is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as 
+* published by the Free Software Foundation, either version 3 of the 
+* License, or (at your option) any later version.
+* 
+* This code is distributed in the hope that it will be useful,     
+* but WITHOUT ANY WARRANTY without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+* 
+* You should have received a copy of the GNU Lesser General Public License 
+* along with this code.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+
+#include <iostream>
+using namespace std; 
+
+#include "coreslam.h"
+
+#include "Scan.hpp"
+#include "Position.hpp"
+#include "Map.hpp"
+
+Map::Map(int size_pixels, double size_meters)
+{
+    this->map = new map_t;
+    map_init(this->map, size_pixels, size_meters);
+}
+
+Map::~Map(void)
+{
+    map_free(this->map);
+    delete this->map;
+}
+
+void Map::update(
+    Scan & scan, 
+    Position & position, 
+    int quality, 
+    double hole_width_mm)
+{    
+    position_t cpos;
+    cpos.x_mm = position.x_mm;
+    cpos.y_mm = position.y_mm;
+    cpos.theta_degrees = position.theta_degrees;
+    
+    map_update(this->map, scan.scan, cpos, quality, hole_width_mm);
+}
+
+void Map::get(char * bytes)
+{
+    map_get(this->map, bytes);
+}
+
+
+ostream& operator<< (ostream & out, Map & map)
+{
+    char str[512];
+    
+    map_string(*map.map, str);
+    
+    out << str;
+    
+    return out;
+}
+
+