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