map.h File Reference

#include <stdbool.h>
#include <robodim.h>

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Classes
struct	map_cell
struct	map
Defines
#define	MAP_NEW_OBSTACLE   255
#define	MAP_NO_OBSTACLE   0
Map constaints
#define	MAP_CELL_SIZE_MM   50
	Size of a cell in mm.
#define	MAP_CELL_SIZE_M   (MAP_CELL_SIZE_MM/1000.0)
	Size of a cell in mm.
#define	MAP_WIDTH   (PLAYGROUND_WIDTH_MM / MAP_CELL_SIZE_MM)
	Field width.
#define	MAP_HEIGHT   (PLAYGROUND_HEIGHT_MM / MAP_CELL_SIZE_MM)
	Field height.
#define	MAP_PLAYGROUND_WIDTH_MM   (MAP_WIDTH*MAP_CELL_SIZE_MM)
	Playground width depends on width and cell size.
#define	MAP_PLAYGROUND_WIDTH_M   (MAP_PLAYGROUND_WIDTH_MM/1000.0)
	Size of a cell in mm.
#define	MAP_PLAYGROUND_HEIGHT_MM   (MAP_HEIGHT*MAP_CELL_SIZE_MM)
	Playground width depends on height and cell size.
#define	MAP_PLAYGROUND_HEIGHT_M   (MAP_PLAYGROUND_HEIGHT_MM/1000.0)
	Size of a cell in mm.
Cell Flags
#define	MAP_FLAG_WALL   1
	Known wall.
#define	MAP_FLAG_PATH   2
	Known wall.
#define	MAP_FLAG_START   4
	Known wall.
#define	MAP_FLAG_GOAL   8
	Known wall.
#define	MAP_FLAG_DET_OBST   16
	Set when an obstacle is detected, cleard on every "map forget cycle".
#define	MAP_FLAG_SIMULATED_WALL   32
	Used by robomon to simulate obstacles.
#define	MAP_FLAG_IGNORE_OBST   64
	If obstacle is detected here, ignore it.
#define	MAP_FLAG_PLAN_MARGIN   128
	"Safety margin" around obstacle - used only during A* planning and not during runtime obstacle avoidance.
#define	MAP_FLAG_INVALIDATE_WALL   256
	Area, where the wall should be forgotten.
Shared Memory macros
#define	SHM_MAP_KEY   555
	Key use to share the memory SHM.
Typedefs
typedef unsigned int	map_cell_detobst_t
typedef unsigned int	map_cell_flag_t
typedef struct map_cell	MapCell
Functions
void	ShmapAllFreeSpace (void)
	Initialize Map Memory with MAP_FREE value and MAP_FLAG_NO_FLAG flag.
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.
void	ShmapPoint2Cell (double x, double y, int *cx, int *cy, 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.
void	ShmapUpdateTmpObstacles (map_cell_detobst_t val)
int	ShmapIsFreeCell (int x, int y)
	Give information about if a cell is free.
int	ShmapIsFreePoint (double x_m, double y_m)
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.
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.
Variables
struct map_cell	ShmapNoCell
	See ShmapCellAtPoint().

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Define Documentation

#define MAP_NEW_OBSTACLE   255

#define MAP_NO_OBSTACLE   0

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Typedef Documentation

typedef unsigned int map_cell_detobst_t

typedef unsigned int map_cell_flag_t

typedef struct map_cell MapCell

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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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void ShmapDt

(

void

)

Deatach Shared Map memory.

void ShmapFree

(

void

)

Free Shared Map memory.

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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.

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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
	)

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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.

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void ShmapUpdateTmpObstacles

(

map_cell_detobst_t

val

)

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Variable Documentation

struct map_cell ShmapNoCell

See ShmapCellAtPoint().