From 52bd668ef5359d5334cf9dbfa0d2358bbc819161 Mon Sep 17 00:00:00 2001
From: "Simon D. Levy" <simon.d.levy@gmail.com>
Date: Sun, 7 Sep 2014 20:59:03 -0400
Subject: [PATCH] Create Map.hpp

---
 cpp/Map.hpp | 88 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)
 create mode 100644 cpp/Map.hpp

diff --git a/cpp/Map.hpp b/cpp/Map.hpp
new file mode 100644
index 0000000..401a650
--- /dev/null
+++ b/cpp/Map.hpp
@@ -0,0 +1,88 @@
+/**
+* 
+* Map.hpp - header 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; 
+
+typedef unsigned short pixel_t;
+
+
+class Scan;
+class Position;
+
+/**
+* A class for maps used in SLAM.
+*/
+class Map  
+{
+    friend class CoreSLAM;
+    friend class SinglePositionSLAM;
+    friend class RMHC_SLAM;
+        
+public:
+    
+/**
+* Builds a square Map object.
+* @param size_pixels  size in pixels
+* @param size_meters  size in meters
+* 
+*/
+Map(int size_pixels, double size_meters);
+
+
+/**
+* Deallocates this Map object.
+* 
+*/
+~Map(void);
+
+
+/**
+* Puts current map values into bytearray, which should of which should be of 
+* this->size map_size_pixels ^ 2.
+*/
+void get(char * bytes);
+
+/**
+* Updates this map object based on new data.
+* @param scan a new scan
+* @param position a new postion
+* @param quality speed with which scan is integerate into map (0 through 255)
+* @param hole_width_mm hole width in millimeters
+* 
+*/
+void update(
+    Scan & scan, 
+    Position & position, 
+    int quality, 
+    double hole_width_mm);
+
+
+friend ostream& operator<< (ostream & out, Map & map);
+
+private:
+    
+    struct map_t * map;
+};
+