89 lines
1.8 KiB
C++
89 lines
1.8 KiB
C++
/**
|
|
*
|
|
* Map.hpp - header for Map 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <math.h>
|
|
#include <stdlib.h>
|
|
|
|
#include <iostream>
|
|
using namespace std;
|
|
|
|
typedef unsigned short pixel_t;
|
|
|
|
|
|
class Scan;
|
|
class Position;
|
|
|
|
/**
|
|
* A class for maps used in SLAM.
|
|
*/
|
|
class Map
|
|
{
|
|
friend class CoreSLAM;
|
|
friend class SinglePositionSLAM;
|
|
friend class RMHC_SLAM;
|
|
|
|
public:
|
|
|
|
/**
|
|
* Builds a square Map object.
|
|
* @param size_pixels size in pixels
|
|
* @param size_meters size in meters
|
|
*
|
|
*/
|
|
Map(int size_pixels, double size_meters);
|
|
|
|
|
|
/**
|
|
* Deallocates this Map object.
|
|
*
|
|
*/
|
|
~Map(void);
|
|
|
|
|
|
/**
|
|
* Puts current map values into bytearray, which should of which should be of
|
|
* this->size map_size_pixels ^ 2.
|
|
*/
|
|
void get(char * bytes);
|
|
|
|
/**
|
|
* Updates this map object based on new data.
|
|
* @param scan a new scan
|
|
* @param position a new postion
|
|
* @param quality speed with which scan is integerate into map (0 through 255)
|
|
* @param hole_width_mm hole width in millimeters
|
|
*
|
|
*/
|
|
void update(
|
|
Scan & scan,
|
|
Position & position,
|
|
int quality,
|
|
double hole_width_mm);
|
|
|
|
|
|
friend ostream& operator<< (ostream & out, Map & map);
|
|
|
|
private:
|
|
|
|
struct map_t * map;
|
|
};
|
|
|