60 lines
2.1 KiB
Matlab
60 lines
2.1 KiB
Matlab
classdef Map
|
|
%A class for maps (occupancy grids) used in SLAM
|
|
%
|
|
% 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/>.
|
|
|
|
properties (Access = {?RMHC_SLAM})
|
|
|
|
c_map
|
|
end
|
|
|
|
methods (Access = 'public')
|
|
|
|
function map = Map(size_pixels, size_meters)
|
|
% Map creates an empty square map
|
|
% map = Map(size_pixels, size_meters)
|
|
map.c_map = mex_coreslam('Map_init', size_pixels, size_meters);
|
|
|
|
end
|
|
|
|
function disp(map)
|
|
% Displays data about this map
|
|
mex_coreslam('Map_disp', map.c_map)
|
|
|
|
end
|
|
|
|
function update(map, scan, new_position, map_quality, hole_width_mm)
|
|
% Updates this map with a new scan and position
|
|
%
|
|
% update(map, scan, new_position, map_quality, hole_width_mm)
|
|
mex_coreslam('Map_update', map.c_map, scan.c_scan, new_position, int32(map_quality), hole_width_mm)
|
|
|
|
end
|
|
|
|
function bytes = get(map)
|
|
% Returns occupancy grid matrix of bytes for this map
|
|
%
|
|
% bytes = get(map)
|
|
|
|
% Transpose for uniformity with Python, C++ versions
|
|
bytes = mex_coreslam('Map_get', map.c_map)';
|
|
|
|
end
|
|
|
|
end % methods
|
|
|
|
end % classdef
|