diff --git a/cpp/Laser.cpp b/cpp/Laser.cpp deleted file mode 100644 index 946e1fe..0000000 --- a/cpp/Laser.cpp +++ /dev/null @@ -1,85 +0,0 @@ -/** -* -* BreezySLAM: Simple, efficient SLAM in C++ -* -* Laser.cpp - C++ code for Laser model 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 . -*/ - -#include -#include - -#include -#include -using namespace std; - -#include "Laser.hpp" -#include "coreslam.h" - - -Laser::Laser( - int scanSize, - float scanRateHz, - float detection_angle_degrees, - float distance_no_detection_mm, - int detection_margin, - float offset_mm - ) -{ - this->laser = new laser_t; - - this->laser->scan_size = scanSize; - this->laser->scan_rate_hz = scanRateHz; - this->laser->detection_angle_degrees = detection_angle_degrees; - this->laser->distance_no_detection_mm = distance_no_detection_mm; - this->laser->detection_margin = detection_margin; - this->laser->offset_mm = offset_mm; -} - - -Laser::Laser(void) -{ - this->laser = new laser_t; - - this->laser->scan_size = 0; - this->laser->scan_rate_hz = 0; - this->laser->detection_angle_degrees = 0; - this->laser->distance_no_detection_mm = 0; - this->laser->detection_margin = 0; - this->laser->offset_mm = 0; -} - - -Laser::~Laser(void) -{ - delete this->laser; -} - -ostream& operator<< (ostream & out, Laser & laser) -{ - char str[512]; - char lstr[512]; - - laser_string(*laser.laser, lstr); - - sprintf(str, "<%s>", lstr); - - out << str; - - return out; -} - diff --git a/matlab/mex_breezyslam.mexa64 b/matlab/mex_breezyslam.mexa64 index f69b7a1..0e94256 100755 Binary files a/matlab/mex_breezyslam.mexa64 and b/matlab/mex_breezyslam.mexa64 differ diff --git a/matlab/mex_coreslam.c b/matlab/mex_coreslam.c deleted file mode 100644 index b4b9b3e..0000000 --- a/matlab/mex_coreslam.c +++ /dev/null @@ -1,300 +0,0 @@ -/* - * mex_coreslam.c : C extensions for BreezySLAM in Matlab - * - * 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 . - */ - -#include "mex.h" - -#include "../c/coreslam.h" -#include "../c/random.h" - -#define MAXSTR 100 - -/* Helpers ------------------------------------------------------------- */ - -static int _streq(char * s, const char * t) -{ - return !strcmp(s, t); -} - -static void _insert_obj_lhs(mxArray *plhs[], void * obj, int pos) -{ - long * outptr = NULL; - - plhs[pos] = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - - outptr = (long *) mxGetPr(plhs[pos]); - - mexMakeMemoryPersistent(obj); - - *outptr = (long)obj; -} - -static double _get_field(const mxArray * pm, const char * fieldname) -{ - mxArray * field_array_ptr = mxGetField(pm, 0, fieldname); - - return mxGetScalar(field_array_ptr); -} - -static long _rhs2ptr(const mxArray * prhs[], int index) -{ - long * inptr = (long *) mxGetPr(prhs[index]); - - return *inptr; -} - -static scan_t * _rhs2scan(const mxArray * prhs[], int index) -{ - long inptr = _rhs2ptr(prhs, index); - - return (scan_t *)inptr; -} - -static map_t * _rhs2map(const mxArray * prhs[], int index) -{ - long inptr = _rhs2ptr(prhs, index); - - return (map_t *)inptr; -} - -static position_t _rhs2pos(const mxArray * prhs[], int index) -{ - position_t position; - - position.x_mm = _get_field(prhs[index], "x_mm"); - position.y_mm = _get_field(prhs[index], "y_mm"); - position.theta_degrees = _get_field(prhs[index], "theta_degrees"); - - return position; -} - -static void _rhs2laser(laser_t * laser, const mxArray * prhs[], int index) -{ - laser->scan_size = (int)_get_field(prhs[index], "scan_size"); - laser->scan_rate_hz = _get_field(prhs[index], "scan_rate_hz"); - laser->detection_angle_degrees = _get_field(prhs[index], "detection_angle_degrees"); - laser->distance_no_detection_mm = _get_field(prhs[index], "distance_no_detection_mm"); - laser->detection_margin = (int)_get_field(prhs[index], "detection_margin"); - laser->offset_mm = _get_field(prhs[index], "offset_mm"); -} - -/* Class methods ------------------------------------------------------- */ - -static void _map_init(mxArray *plhs[], const mxArray * prhs[]) -{ - - int size_pixels = (int)mxGetScalar(prhs[1]); - - double size_meters = mxGetScalar(prhs[2]); - - map_t * map = (map_t *)mxMalloc(sizeof(map_t)); - - map_init(map, size_pixels, size_meters); - - _insert_obj_lhs(plhs, map, 0); -} - -static void _map_disp(const mxArray * prhs[]) -{ - char str[MAXSTR]; - - map_t * map = _rhs2map(prhs, 1); - - map_string(*map, str); - - printf("%s\n", str); -} - -static void _map_update(const mxArray * prhs[]) -{ - map_t * map = _rhs2map(prhs, 1); - - scan_t * scan = _rhs2scan(prhs, 2); - - position_t position = _rhs2pos(prhs, 3); - - int map_quality = (int)mxGetScalar(prhs[4]); - - double hole_width_mm = mxGetScalar(prhs[5]); - - map_update(map, scan, position, map_quality, hole_width_mm); -} - -static void _map_get(mxArray *plhs[], const mxArray * prhs[]) -{ - map_t * map = _rhs2map(prhs, 1); - - unsigned char * pointer = NULL; - - plhs[0] = mxCreateNumericMatrix(map->size_pixels, map->size_pixels, - mxUINT8_CLASS, mxREAL); - - pointer = (unsigned char *)mxGetPr(plhs[0]); - - map_get(map, pointer); -} - - -static void _scan_init(mxArray *plhs[], const mxArray * prhs[]) -{ - - laser_t * laser = (laser_t *)mxMalloc(sizeof(laser_t)); - - scan_t * scan = (scan_t *)mxMalloc(sizeof(scan_t)); - - int span = (int)mxGetScalar(prhs[2]); - - _rhs2laser(laser, prhs, 1); - - scan_init(scan, laser->scan_size, span); - - - _insert_obj_lhs(plhs, scan, 0); - _insert_obj_lhs(plhs, laser, 1); -} - -static void _scan_disp(const mxArray * prhs[]) -{ - char str[MAXSTR]; - - scan_t * scan = _rhs2scan(prhs, 1); - - scan_string(*scan, str); - - printf("%s\n", str); -} - -static void _scan_update(const mxArray * prhs[]) -{ - scan_t * scan = _rhs2scan(prhs, 1); - - laser_t * laser = (laser_t *)_rhs2ptr(prhs, 2); - - int scansize = (int)mxGetNumberOfElements(prhs[3]); - - int * lidar_mm = (int *)mxGetPr(prhs[3]); - - double hole_width_mm = mxGetScalar(prhs[4]); - - double * velocities = mxGetPr(prhs[5]); - - scan_update(scan, lidar_mm, *laser, hole_width_mm, velocities[0], velocities[1]); -} - -static void _randomizer_init(mxArray *plhs[], const mxArray * prhs[]) -{ - int seed = (int)mxGetScalar(prhs[1]); - - void * r = mxMalloc(random_size()); - - random_init(r, seed); - - _insert_obj_lhs(plhs, r, 0); -} - -static void _rmhcPositionSearch(mxArray *plhs[], const mxArray * prhs[]) -{ - position_t start_pos = _rhs2pos(prhs, 1); - - map_t * map = _rhs2map(prhs, 2); - - scan_t * scan = _rhs2scan(prhs, 3); - - laser_t laser; - position_t new_pos; - - double sigma_xy_mm = mxGetScalar(prhs[5]); - - double sigma_theta_degrees = mxGetScalar(prhs[6]); - - int max_search_iter = (int)mxGetScalar(prhs[7]); - - void * randomizer = (void *)(long)mxGetScalar(prhs[8]); - - _rhs2laser(&laser, prhs, 4); - - new_pos = rmhc_position_search( - start_pos, - map, - scan, - laser, - sigma_xy_mm, - sigma_theta_degrees, - max_search_iter, - randomizer); - - plhs[0] = mxCreateDoubleScalar(new_pos.x_mm); - plhs[1] = mxCreateDoubleScalar(new_pos.y_mm); - plhs[2] = mxCreateDoubleScalar(new_pos.theta_degrees); -} - -/* The gateway function ------------------------------------------------ */ -void mexFunction( int nlhs, mxArray *plhs[], - int nrhs, const mxArray * prhs[]) -{ - - char methodname[MAXSTR]; - - mxGetString(prhs[0], methodname, 100); - - if (_streq(methodname, "Map_init")) - { - _map_init(plhs, prhs); - } - - else if (_streq(methodname, "Map_disp")) - { - _map_disp(prhs); - } - - else if (_streq(methodname, "Map_update")) - { - _map_update(prhs); - } - - else if (_streq(methodname, "Map_get")) - { - _map_get(plhs, prhs); - } - - else if (_streq(methodname, "Scan_init")) - { - _scan_init(plhs, prhs); - } - - else if (_streq(methodname, "Scan_disp")) - { - _scan_disp(prhs); - } - - else if (_streq(methodname, "Scan_update")) - { - _scan_update(prhs); - } - - else if (_streq(methodname, "Randomizer_init")) - { - _randomizer_init(plhs, prhs); - } - - else if (_streq(methodname, "rmhcPositionSearch")) - { - _rmhcPositionSearch(plhs, prhs); - } -} -