with class
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Map.hpp
- Committer:
- Ludwigfr
- Date:
- 2017-06-09
- Revision:
- 34:c208497dd079
- Parent:
- 33:814bcd7d3cfe
- Child:
- 35:68f9edbb3cff
File content as of revision 34:c208497dd079:
#ifndef MAP_HPP #define MAP_HPP #include<math.h> /* Robot coordinate system: World coordinate system: ^ ^ |x |y <--R O--> y x Screen coordinate system x O---> y| v how the float[2] arrays stock the position Start at 0,0 end top right ^ |heightIndice | _____> widthIndice */ class Map { public: float widthRealMap; float heightRealMap; int nbCellWidth; int nbCellHeight; float sizeCellWidth; float sizeCellHeight; float** cellsLogValues; float** initialLogValues; Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight); float cell_width_coordinate_to_world(int i); 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); //returns the log value that the cell is occupied from the probability value [0,1] float proba_to_log(float p); //fill initialLogValues with the values we already know (here the bordurs) void fill_initialLogValues(); float robot_x_coordinate_in_world(float robot_x, float robot_y); float robot_y_coordinate_in_world(float robot_x, float robot_y); /* void print_final_map(); 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); */ }; #endif