#include <robot.h>
#include <robodim.h>
#include <map.h>
#include <robomath.h>
#include <hokuyo.h>
#include <shape_detect.h>
#include "map_handling.h"

Include dependency graph for map_handling.cc:

Defines
#define	OBS_SIZE_M 0.2
	Expected size of detected obstacle.
#define	IGNORE_CLOSER_THAN_M 0.2
	Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock).
#define	IGNORE_FURTHER_THAN_M 0.5
	Ignore data from sharp if further than this.
#define	OBS_FORGET_PERIOD 100
	The period of thread_obstacle_forgeting [ms].
#define	OBS_FORGET_SEC 1
	Time to completely forget detected obstacle.
#define	OBS_OFFSET 0.6
Functions
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 struct sharp_pos s, double v, double x, double y)
	A thread running the trajectory recalc.
void	get_checkerboard (std::vector< Shape_detect::Point > &team)
float	point_distance (Shape_detect::Point a, Shape_detect::Point b)
void	update_map_hokuyo (struct hokuyo_scan_type *s)
void *	thread_obstacle_forgeting (void *arg)
	A thread updating the map.

Define Documentation

#define IGNORE_CLOSER_THAN_M 0.2

Do not mark any obstacle closer than this to center of the robot (avoid path planning deadlock).

#define IGNORE_FURTHER_THAN_M 0.5

Ignore data from sharp if further than this.

#define OBS_FORGET_PERIOD 100

The period of thread_obstacle_forgeting [ms].

#define OBS_FORGET_SEC 1

Time to completely forget detected obstacle.

#define OBS_OFFSET 0.6

#define OBS_SIZE_M 0.2

Expected size of detected obstacle.

Function Documentation

void figure_detected_at	(	double	x,
		double	y,
		const bool	state
	)

Here is the call graph for this function:

void get_checkerboard ( std::vector< Shape_detect::Point > & team )

Here is the caller graph for this function:

void obst_coord	(	struct robot_pos_type *	e,
		const struct sharp_pos *	s,
		double	v,
		double *	x,
		double *	y
	)

A thread running the trajectory recalc.

This (low-medium priority) thread updates the map with sensors information. If it is necesary, it recalculate the path.

Parameters:

arg

Returns:

Here is the call graph for this function:

Here is the caller graph for this function:

void obstacle_detected_at	(	double	x,
		double	y,
		bool	real_obstacle
	)

Then all the cells arround obstacle cell are set as MAP_NEW_OBSTACLE. Cells of current robot position are not set to avoid path planning deadlock. If there are a path cell between them, the path will be recalculated.