robofsm : map_handling

[eurobot/public.git] / src / robofsm / map_handling.h

diff --git a/src/robofsm/map_handling.h b/src/robofsm/map_handling.h
index 8383753f83344439898f9fe7406ba013b2ff0ee5..1b51f6fc2c7b80a3710f64658de02792184d1268 100644 (file)
--- a/src/robofsm/map_handling.h
+++ b/src/robofsm/map_handling.h
@@ -1,18 +1,43 @@
 #ifndef _MAP_HANDLING_H
 #define _MAP_HANDLING_H
 
+#include <cmath>
+#include <robot.h>
 #include <robodim.h>
+#include <map.h>
+#include <robomath.h>
+#include <hokuyo.h>
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+#include <shape_detect.h>
 
-void * thread_obstacle_forgeting(void * arg);
-/*void update_map(struct sharps_type *s);*/
-void update_map_hokuyo(struct hokuyo_scan_type *s);
+const double OBS_SIZE_M = 0.2;  /**< Expected size of detected obstacle  */
+const double IGNORE_CLOSER_THAN_M = 0.2; /**< Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock) */
+const double IGNORE_FURTHER_THAN_M = 0.5; /**< Ignore data from sharp if further than this */
+const int OBS_FORGET_PERIOD = 100;  /**< The period of thread_obstacle_forgeting [ms] */
+const int OBS_FORGET_SEC = 1;  /**< Time to completely forget detected obstacle. */
+const double OBS_OFFSET = 0.6;
 
-#ifdef __cplusplus
-}
-#endif
+class MapHandling{
+       
+       map *sh_map;
+       void obstacle_detected_at(double x, double y, bool real_obstacle);
+       void figure_detected_at(double x, double y, const bool state);
+       void obst_coord(struct robot_pos_type *e, const sharp_pos  *s, double v, double &x, double &y);
+       void get_checkerboard(std::vector<Shape_detect::Point> &team);
+       float point_distance(Shape_detect::Point a, Shape_detect::Point b) {
+               return sqrt((a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y));
+       }
+       
+       public:
+       void update_map_hokuyo(struct hokuyo_scan_type *s);
+       map* get_map() {
+               return sh_map;
+       }
+       void set_map(map *map_shared) {
+               sh_map = map_shared;
+       }
+};
+extern MapHandling map_handle;
+void * thread_obstacle_forgeting(void * arg); 
 
 #endif