with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: Map.hpp
- Revision:
- 34:c208497dd079
- Parent:
- 33:814bcd7d3cfe
- Child:
- 35:68f9edbb3cff
--- a/Map.hpp Fri Jun 09 00:28:32 2017 +0000 +++ b/Map.hpp Fri Jun 09 14:30:21 2017 +0000 @@ -1,9 +1,9 @@ #ifndef MAP_HPP #define MAP_HPP -#include "MiniExplorerCoimbra.hpp" +#include<math.h> - /* +/* Robot coordinate system: World coordinate system: ^ ^ |x |y @@ -30,7 +30,7 @@ public: float widthRealMap; - float HeightRealMap; + float heightRealMap; int nbCellWidth; int nbCellHeight; float sizeCellWidth; @@ -38,16 +38,17 @@ float** cellsLogValues; float** initialLogValues; - Map(float widthRealMap, float HeightRealMap, int nbCellWidth, int nbCellHeight); - - void print_final_map(); + Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight); + + float cell_width_coordinate_to_world(int i); - void print_final_map_with_robot_position(float robot_x,float robot_y); - - void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld); - - protected: - + float cell_height_coordinate_to_world(int j); + + float get_proba_cell(int widthIndice, int heightIndice); + + //Updates map value + void update_cell_value(int widthIndice,int heightIndice ,float proba); + //returns the probability [0,1] that the cell is occupied from the log valAue lt float log_to_proba(float lt); @@ -57,19 +58,17 @@ //fill initialLogValues with the values we already know (here the bordurs) void fill_initialLogValues(); - //Updates map value - void update_cell_value(int widthIndice,int heightIndice ,float proba); - float robot_x_coordinate_in_world(float robot_x, float robot_y); float robot_y_coordinate_in_world(float robot_x, float robot_y); - - float cell_width_coordinate_to_world(int i); + + /* + void print_final_map(); - float cell_height_coordinate_to_world(int j); + void print_final_map_with_robot_position(float robot_x,float robot_y); - float get_proba_cell(int widthIndice, int heightIndice); - + void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld); + */ }; #endif