47#define MAP_WIFI_MAX_LEVELS 8
60 int wifi_levels[MAP_WIFI_MAX_LEVELS];
69 double origin_x, origin_y;
80 unsigned char data_range;
94map_t *map_alloc(
void);
97void map_free(
map_t *map);
103int map_load_occ(
map_t *map,
const char *filename,
double scale,
int negate);
106int map_load_wifi(
map_t *map,
const char *filename,
int index);
109void map_update_cspace(
map_t *map,
double max_occ_dist);
117double map_calc_range(
map_t *map,
double ox,
double oy,
double oa,
double max_range);
125void map_draw_occ(
map_t *map,
struct _rtk_fig_t *fig);
128void map_draw_cspace(
map_t *map,
struct _rtk_fig_t *fig);
131void map_draw_wifi(
map_t *map,
struct _rtk_fig_t *fig,
int index);
139#define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale)
140#define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale)
143#define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2)
144#define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2)
147#define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y))
150#define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x)
Definition: localization/amcl/map/map.h:52
Definition: localization/amcl/map/map.h:67