Map.hpp

00001 #ifndef MAP_HPP
00002 #define MAP_HPP
00003 
00004 #include<math.h>
00005 
00006 /*
00007 Robot coordinate system:      World coordinate system:
00008       ^                                 ^
00009       |x                                |y
00010    <--R                                 O-->
00011     y                                    x
00012 
00013 Screen coordinate system
00014    x
00015  O--->
00016 y|
00017  v
00018  
00019 how the float[2] arrays stock the position 
00020 Start at 0,0 end top right
00021 ^
00022 |heightIndice
00023 |
00024 _____>
00025 widthIndice
00026 */
00027 
00028 
00029 class Map {
00030 
00031 public:
00032     float widthRealMap;
00033     float heightRealMap;
00034     int nbCellWidth;
00035     int nbCellHeight;
00036     float sizeCellWidth;
00037     float sizeCellHeight;
00038     float** cellsLogValues;
00039     float** initialLogValues;
00040 
00041     Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight);
00042     
00043     float cell_width_coordinate_to_world(int i);
00044 
00045     float cell_height_coordinate_to_world(int j);
00046     
00047     float get_proba_cell(int widthIndice, int heightIndice);
00048     
00049     void fill_map_with_initial();
00050     
00051     //Updates map value
00052     void update_cell_value(int widthIndice,int heightIndice ,float proba);
00053         
00054     //returns the probability [0,1] that the cell is occupied from the log valAue lt
00055     float log_to_proba(float lt);
00056 
00057     //returns the log value that the cell is occupied from the probability value [0,1]
00058     float proba_to_log(float p);
00059     
00060     private:
00061     
00062     //fill initialLogValues with the values we already know (here the bordurs)
00063     void fill_initialLogValues();
00064     
00065     /*
00066     
00067     float robot_x_coordinate_in_world(float robot_x, float robot_y);
00068 
00069     float robot_y_coordinate_in_world(float robot_x, float robot_y);
00070     
00071     void print_final_map();
00072 
00073     void print_final_map_with_robot_position(float robot_x,float robot_y);
00074 
00075     void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld);
00076     */
00077 }; 
00078 
00079 #endif
00080