Added matlab support.
Modified some c and cpp code to help.
This commit is contained in:
Simon D. Levy
300
matlab/mex_coreslam.c
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300
matlab/mex_coreslam.c
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/*
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* mex_coreslam.c : C extensions for BreezySLAM in Matlab
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*
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* Copyright (C) 2014 Simon D. Levy
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*
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* This code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* This code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "mex.h"
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#include "../c/coreslam.h"
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#include "../c/random.h"
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#define MAXSTR 100
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/* Helpers ------------------------------------------------------------- */
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static int _streq(char * s, const char * t)
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{
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return !strcmp(s, t);
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}
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static void _insert_obj_lhs(mxArray *plhs[], void * obj, int pos)
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{
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long * outptr = NULL;
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plhs[pos] = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL);
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outptr = (long *) mxGetPr(plhs[pos]);
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mexMakeMemoryPersistent(obj);
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*outptr = (long)obj;
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}
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static double _get_field(const mxArray * pm, const char * fieldname)
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{
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mxArray * field_array_ptr = mxGetField(pm, 0, fieldname);
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return mxGetScalar(field_array_ptr);
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}
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static long _rhs2ptr(const mxArray * prhs[], int index)
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{
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long * inptr = (long *) mxGetPr(prhs[index]);
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return *inptr;
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}
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static scan_t * _rhs2scan(const mxArray * prhs[], int index)
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{
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long inptr = _rhs2ptr(prhs, index);
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return (scan_t *)inptr;
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}
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static map_t * _rhs2map(const mxArray * prhs[], int index)
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{
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long inptr = _rhs2ptr(prhs, index);
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return (map_t *)inptr;
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}
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static position_t _rhs2pos(const mxArray * prhs[], int index)
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{
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position_t position;
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position.x_mm = _get_field(prhs[index], "x_mm");
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position.y_mm = _get_field(prhs[index], "y_mm");
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position.theta_degrees = _get_field(prhs[index], "theta_degrees");
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return position;
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}
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static void _rhs2laser(laser_t * laser, const mxArray * prhs[], int index)
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{
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laser->scan_size = (int)_get_field(prhs[index], "scan_size");
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laser->scan_rate_hz = _get_field(prhs[index], "scan_rate_hz");
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laser->detection_angle_degrees = _get_field(prhs[index], "detection_angle_degrees");
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laser->distance_no_detection_mm = _get_field(prhs[index], "distance_no_detection_mm");
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laser->detection_margin = (int)_get_field(prhs[index], "detection_margin");
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laser->offset_mm = _get_field(prhs[index], "offset_mm");
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}
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/* Class methods ------------------------------------------------------- */
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static void _map_init(mxArray *plhs[], const mxArray * prhs[])
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{
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int size_pixels = (int)mxGetScalar(prhs[1]);
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double size_meters = mxGetScalar(prhs[2]);
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map_t * map = (map_t *)mxMalloc(sizeof(map_t));
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map_init(map, size_pixels, size_meters);
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_insert_obj_lhs(plhs, map, 0);
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}
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static void _map_disp(const mxArray * prhs[])
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{
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char str[MAXSTR];
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map_t * map = _rhs2map(prhs, 1);
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map_string(*map, str);
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printf("%s\n", str);
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}
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static void _map_update(const mxArray * prhs[])
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{
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map_t * map = _rhs2map(prhs, 1);
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scan_t * scan = _rhs2scan(prhs, 2);
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position_t position = _rhs2pos(prhs, 3);
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int map_quality = (int)mxGetScalar(prhs[4]);
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double hole_width_mm = mxGetScalar(prhs[5]);
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map_update(map, scan, position, map_quality, hole_width_mm);
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}
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static void _map_get(mxArray *plhs[], const mxArray * prhs[])
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{
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map_t * map = _rhs2map(prhs, 1);
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unsigned char * pointer = NULL;
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plhs[0] = mxCreateNumericMatrix(map->size_pixels, map->size_pixels,
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mxUINT8_CLASS, mxREAL);
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pointer = (unsigned char *)mxGetPr(plhs[0]);
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map_get(map, pointer);
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}
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static void _scan_init(mxArray *plhs[], const mxArray * prhs[])
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{
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laser_t * laser = (laser_t *)mxMalloc(sizeof(laser_t));
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scan_t * scan = (scan_t *)mxMalloc(sizeof(scan_t));
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int span = (int)mxGetScalar(prhs[2]);
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_rhs2laser(laser, prhs, 1);
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scan_init(scan, laser->scan_size, span);
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_insert_obj_lhs(plhs, scan, 0);
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_insert_obj_lhs(plhs, laser, 1);
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}
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static void _scan_disp(const mxArray * prhs[])
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{
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char str[MAXSTR];
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scan_t * scan = _rhs2scan(prhs, 1);
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scan_string(*scan, str);
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printf("%s\n", str);
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}
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static void _scan_update(const mxArray * prhs[])
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{
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scan_t * scan = _rhs2scan(prhs, 1);
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laser_t * laser = (laser_t *)_rhs2ptr(prhs, 2);
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int scansize = (int)mxGetNumberOfElements(prhs[3]);
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int * lidar_mm = (int *)mxGetPr(prhs[3]);
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double hole_width_mm = mxGetScalar(prhs[4]);
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double * velocities = mxGetPr(prhs[5]);
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scan_update(scan, lidar_mm, *laser, hole_width_mm, velocities[0], velocities[1]);
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}
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static void _randomizer_init(mxArray *plhs[], const mxArray * prhs[])
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{
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int seed = (int)mxGetScalar(prhs[1]);
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void * r = mxMalloc(random_size());
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random_init(r, seed);
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_insert_obj_lhs(plhs, r, 0);
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}
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static void _rmhcPositionSearch(mxArray *plhs[], const mxArray * prhs[])
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{
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position_t start_pos = _rhs2pos(prhs, 1);
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map_t * map = _rhs2map(prhs, 2);
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scan_t * scan = _rhs2scan(prhs, 3);
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laser_t laser;
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position_t new_pos;
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double sigma_xy_mm = mxGetScalar(prhs[5]);
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double sigma_theta_degrees = mxGetScalar(prhs[6]);
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int max_search_iter = (int)mxGetScalar(prhs[7]);
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void * randomizer = (void *)(long)mxGetScalar(prhs[8]);
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_rhs2laser(&laser, prhs, 4);
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new_pos = rmhc_position_search(
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start_pos,
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map,
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scan,
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laser,
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sigma_xy_mm,
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sigma_theta_degrees,
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max_search_iter,
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randomizer);
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plhs[0] = mxCreateDoubleScalar(new_pos.x_mm);
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plhs[1] = mxCreateDoubleScalar(new_pos.y_mm);
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plhs[2] = mxCreateDoubleScalar(new_pos.theta_degrees);
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}
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/* The gateway function ------------------------------------------------ */
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void mexFunction( int nlhs, mxArray *plhs[],
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int nrhs, const mxArray * prhs[])
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{
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char methodname[MAXSTR];
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mxGetString(prhs[0], methodname, 100);
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if (_streq(methodname, "Map_init"))
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{
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_map_init(plhs, prhs);
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}
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else if (_streq(methodname, "Map_disp"))
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{
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_map_disp(prhs);
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}
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else if (_streq(methodname, "Map_update"))
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{
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_map_update(prhs);
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}
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else if (_streq(methodname, "Map_get"))
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{
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_map_get(plhs, prhs);
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}
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else if (_streq(methodname, "Scan_init"))
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{
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_scan_init(plhs, prhs);
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}
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else if (_streq(methodname, "Scan_disp"))
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{
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_scan_disp(prhs);
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}
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else if (_streq(methodname, "Scan_update"))
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{
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_scan_update(prhs);
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}
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else if (_streq(methodname, "Randomizer_init"))
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{
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_randomizer_init(plhs, prhs);
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}
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else if (_streq(methodname, "rmhcPositionSearch"))
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{
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_rmhcPositionSearch(plhs, prhs);
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}
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}
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