Useful functions related map. More...

#include "map.h"
#include <sys/shm.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/stat.h>
#include <math.h>

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Functions
Shared Memory Map related functions

struct map *	ShmapInit (int init_flag)
	Init Shared Map memory.
void	ShmapFree (void)
	Free Shared Map memory.
void	ShmapDt (void)
	Deatach Shared Map memory.
struct map *	ShmapIsMapInit (void)
	Check if Shared Map memory is init.
Coordonates translation

void	ShmapPoint2Cell (double x, double y, int ix, int iy, bool *valid)
	Translates real point coordinates (in meters) to cell grid coordinates.
int	ShmapCell2Point (int ix, int iy, double x, double y)
	Translates from cell grid coordinates to real coordinates.
Variables
struct map *	map = NULL
int	shmap_id
Map manage

struct map_cell	ShmapNoCell
	See ShmapCellAtPoint().
void	ShmapAllFreeSpace (void)
	Initialize Map Memory with MAP_FREE value and MAP_FLAG_NO_FLAG flag.
struct map_cell *	ShmapCellAtPoint (double x_m, double y_m)
	Put a value in a point.
int	ShmapIsFreeCell (int x, int y)
	Give information about if a cell is free.
int	ShmapIsFreePoint (double x_m, double y_m)
	See ShmapCellAtPoint().
int	ShmapSetCircleFlag (double xs, double ys, double r, map_cell_flag_t set_flags, map_cell_flag_t clear_flags)
	Creates an obstacle in the map with a square shape.
int	ShmapSetRectangleFlag (double x1, double y1, double x2, double y2, map_cell_flag_t set_flags, map_cell_flag_t clear_flags)
	Creates an obstacle in the map.

Detailed Description

Useful functions related map.

Author:: Jose Maria Martin Laguna <jmmartin@etud.insa-toulouse.fr>

This file contains functions to manage map. The map should be accessed only by this library.

Todo:: Lock the map! It necessary in multi-thread programs. If while we are doing something in the map, somewhere the function ShmapFree() is called, segfault occurs.

Function Documentation

void ShmapAllFreeSpace ( void )

Initialize Map Memory with MAP_FREE value and MAP_FLAG_NO_FLAG flag.

See also:: map MAP_FREE

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int ShmapCell2Point	(	int	ix,
		int	iy,
		double *	x,
		double *	y
	)

Translates from cell grid coordinates to real coordinates.

Coordinates set to x and *y are coordinates of the center of given cell.

Parameters:

	ix	given x index of grid cell
	iy	given y index of grid cell
	*x	is set to real x coordinate corresponding to given ix
	*y	is set to real y coordinate corresponding to given iy

Returns:: 0 if and only if given grid indices fall into playground, otherwise returns -1

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struct map_cell* ShmapCellAtPoint	(	double	x_m,
		double	y_m
	)			`[read]`

Put a value in a point.

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point
	value	Value of the point

Returns:: Pointer to the cell. If coordinates are outside of the map, pointer to ShmapNoCell is returned.

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void ShmapDt ( void )

Deatach Shared Map memory.

void ShmapFree ( void )

Free Shared Map memory.

Examples:: testmap.c.

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struct map* ShmapInit ( int init_flag ) [read]

Init Shared Map memory.

Parameters:

init_flag

1 to init the map memory and set all cells with MAP_FREE and MAP_FLAG_NO_FLAG, 0 only init map

Returns:: Pointer to the map. In case of error, exit() is called.

This function allocates memory for shared map if this memory does not exists.

Examples:: testmap.c.

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int ShmapIsFreeCell	(	int	x,
		int	y
	)

Give information about if a cell is free.

Parameters:

	x	Coordonate of a cell
	y	Coordonate of a cell

Returns:: 1 if the cell is not an obstacle, -1 if the cell is not in the map, 0 otherwise

Following cells are consider as free cells: MAP_START, MAP_GOAL, MAP_PATH, MAP_FREE.

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int ShmapIsFreePoint	(	double	x_m,
		double	y_m
	)

See ShmapCellAtPoint().

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struct map* ShmapIsMapInit ( void ) [read]

Check if Shared Map memory is init.

Returns:: Pointer to the map or NULL if not initialized.

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void ShmapPoint2Cell	(	double	x,
		double	y,
		int *	ix,
		int *	iy,
		bool *	valid
	)

Translates real point coordinates (in meters) to cell grid coordinates.

Parameters:

	x	given x coordinate [meters]
	y	given y coordinate [meters]
	*ix	referenced int is set to grid index corresponding to x
	*iy	referenced int is set to grid index corresponding to y
	*valid	referenced bool is set to true if and only if position given by (x,y) falls into playground

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int ShmapSetCircleFlag	(	double	xs,
		double	ys,
		double	r,
		map_cell_flag_t	set_flags,
		map_cell_flag_t	clear_flags
	)

Creates an obstacle in the map with a square shape.

Parameters:

	xs	Coordonate X (in m) of the central point
	ys	Coordonate Y (in m) of the central point
	r	Radius (in m)
	cell	Type of obstacle.

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int ShmapSetRectangleFlag	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		map_cell_flag_t	set_flags,
		map_cell_flag_t	clear_flags
	)

Creates an obstacle in the map.

Parameters:

	x1	Coordonate X (in m) of the first point
	y1	Coordonate Y (in m) of the first point
	x2	Coordonate X (in m) of the second point
	y2	Coordonate Y (in m) of the second point
	cell	Type of obstacle.

Examples:: testmap.c.

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Variable Documentation

struct map* map = NULL

int shmap_id

struct map_cell ShmapNoCell

See ShmapCellAtPoint().

map.c File Reference

Functions

Variables

Map manage

Detailed Description

Function Documentation

Variable Documentation