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