Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

Map.hpp@39:890439b495e3, 2017-06-16 (annotated)

Committer:
Ludwigfr
Date:
Fri Jun 16 10:40:53 2017 +0000
Revision:
39:890439b495e3
Parent:
36:b59d56d0b3b4 
last version with the 4th lab;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 33:814bcd7d3cfe 1 #ifndef MAP_HPP
Ludwigfr 33:814bcd7d3cfe 2 #define MAP_HPP
Ludwigfr 33:814bcd7d3cfe 3
Ludwigfr 34:c208497dd079 4 #include<math.h>
Ludwigfr 33:814bcd7d3cfe 5
Ludwigfr 34:c208497dd079 6 /*
Ludwigfr 33:814bcd7d3cfe 7 Robot coordinate system: World coordinate system:
Ludwigfr 33:814bcd7d3cfe 8 ^ ^
Ludwigfr 33:814bcd7d3cfe 9 |x |y
Ludwigfr 33:814bcd7d3cfe 10 <--R O-->
Ludwigfr 33:814bcd7d3cfe 11 y x
Ludwigfr 33:814bcd7d3cfe 12
Ludwigfr 33:814bcd7d3cfe 13 Screen coordinate system
Ludwigfr 33:814bcd7d3cfe 14 x
Ludwigfr 33:814bcd7d3cfe 15 O--->
Ludwigfr 33:814bcd7d3cfe 16 y|
Ludwigfr 33:814bcd7d3cfe 17 v
Ludwigfr 33:814bcd7d3cfe 18
Ludwigfr 33:814bcd7d3cfe 19 how the float[2] arrays stock the position
Ludwigfr 33:814bcd7d3cfe 20 Start at 0,0 end top right
Ludwigfr 33:814bcd7d3cfe 21 ^
Ludwigfr 33:814bcd7d3cfe 22 |heightIndice
Ludwigfr 33:814bcd7d3cfe 23 |
Ludwigfr 33:814bcd7d3cfe 24 _____>
Ludwigfr 33:814bcd7d3cfe 25 widthIndice
Ludwigfr 33:814bcd7d3cfe 26 */
Ludwigfr 33:814bcd7d3cfe 27
Ludwigfr 33:814bcd7d3cfe 28
Ludwigfr 33:814bcd7d3cfe 29 class Map {
Ludwigfr 33:814bcd7d3cfe 30
Ludwigfr 33:814bcd7d3cfe 31 public:
Ludwigfr 33:814bcd7d3cfe 32 float widthRealMap;
Ludwigfr 34:c208497dd079 33 float heightRealMap;
Ludwigfr 33:814bcd7d3cfe 34 int nbCellWidth;
Ludwigfr 33:814bcd7d3cfe 35 int nbCellHeight;
Ludwigfr 33:814bcd7d3cfe 36 float sizeCellWidth;
Ludwigfr 33:814bcd7d3cfe 37 float sizeCellHeight;
Ludwigfr 33:814bcd7d3cfe 38 float** cellsLogValues;
Ludwigfr 33:814bcd7d3cfe 39 float** initialLogValues;
Ludwigfr 33:814bcd7d3cfe 40
Ludwigfr 34:c208497dd079 41 Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight);
Ludwigfr 34:c208497dd079 42
Ludwigfr 34:c208497dd079 43 float cell_width_coordinate_to_world(int i);
Ludwigfr 33:814bcd7d3cfe 44
Ludwigfr 34:c208497dd079 45 float cell_height_coordinate_to_world(int j);
Ludwigfr 34:c208497dd079 46
Ludwigfr 34:c208497dd079 47 float get_proba_cell(int widthIndice, int heightIndice);
Ludwigfr 34:c208497dd079 48
Ludwigfr 39:890439b495e3 49 void fill_map_with_initial();
Ludwigfr 39:890439b495e3 50
Ludwigfr 34:c208497dd079 51 //Updates map value
Ludwigfr 34:c208497dd079 52 void update_cell_value(int widthIndice,int heightIndice ,float proba);
Ludwigfr 36:b59d56d0b3b4 53
Ludwigfr 33:814bcd7d3cfe 54 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 33:814bcd7d3cfe 55 float log_to_proba(float lt);
Ludwigfr 33:814bcd7d3cfe 56
Ludwigfr 33:814bcd7d3cfe 57 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 33:814bcd7d3cfe 58 float proba_to_log(float p);
Ludwigfr 35:68f9edbb3cff 59
Ludwigfr 36:b59d56d0b3b4 60 private:
Ludwigfr 36:b59d56d0b3b4 61
Ludwigfr 36:b59d56d0b3b4 62 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 36:b59d56d0b3b4 63 void fill_initialLogValues();
Ludwigfr 36:b59d56d0b3b4 64
Ludwigfr 35:68f9edbb3cff 65 /*
Ludwigfr 35:68f9edbb3cff 66
Ludwigfr 33:814bcd7d3cfe 67 float robot_x_coordinate_in_world(float robot_x, float robot_y);
Ludwigfr 33:814bcd7d3cfe 68
Ludwigfr 33:814bcd7d3cfe 69 float robot_y_coordinate_in_world(float robot_x, float robot_y);
Ludwigfr 34:c208497dd079 70
Ludwigfr 34:c208497dd079 71 void print_final_map();
Ludwigfr 33:814bcd7d3cfe 72
Ludwigfr 34:c208497dd079 73 void print_final_map_with_robot_position(float robot_x,float robot_y);
Ludwigfr 33:814bcd7d3cfe 74
Ludwigfr 34:c208497dd079 75 void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld);
Ludwigfr 34:c208497dd079 76 */
Ludwigfr 33:814bcd7d3cfe 77 };
Ludwigfr 33:814bcd7d3cfe 78
Ludwigfr 33:814bcd7d3cfe 79 #endif
Ludwigfr 33:814bcd7d3cfe 80