80 lines
1.7 KiB
C++
80 lines
1.7 KiB
C++
/**
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*
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* \mainpage BreezySLAM: Simple, efficient SLAM in C++
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*
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* Map.cpp - implementation for Map class
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*
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* Copyright (C) 2014 Simon D. Levy
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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 <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <iostream>
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using namespace std;
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#include "coreslam.h"
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#include "Scan.hpp"
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#include "Position.hpp"
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#include "Map.hpp"
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Map::Map(int size_pixels, double size_meters)
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{
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this->map = new map_t;
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map_init(this->map, size_pixels, size_meters);
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}
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Map::~Map(void)
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{
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map_free(this->map);
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delete this->map;
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}
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void Map::update(
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Scan & scan,
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Position & position,
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int quality,
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double hole_width_mm)
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{
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position_t cpos;
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cpos.x_mm = position.x_mm;
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cpos.y_mm = position.y_mm;
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cpos.theta_degrees = position.theta_degrees;
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map_update(this->map, scan.scan, cpos, quality, hole_width_mm);
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}
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void Map::get(char * bytes)
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{
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map_get(this->map, bytes);
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}
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ostream& operator<< (ostream & out, Map & map)
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{
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char str[512];
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map_string(*map.map, str);
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out << str;
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return out;
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}
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