Yo Fleyt / Mbed 2 deprecated roboticLab_withclass

lab robotic coimbra

Dependencies:   ISR_Mini-explorer mbed

Map.hpp@0:9f7ee7ed13e4, 2017-06-26 (annotated)

Committer:
Ludwigfr
Date:
Mon Jun 26 12:05:20 2017 +0000
Revision:
0:9f7ee7ed13e4
this version should work, though it would be nice to test all the lab demo; there's also some code on the 4th lab at the end of MiniExplorerCoimbra.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 0:9f7ee7ed13e4 1 #ifndef MAP_HPP
Ludwigfr 0:9f7ee7ed13e4 2 #define MAP_HPP
Ludwigfr 0:9f7ee7ed13e4 3
Ludwigfr 0:9f7ee7ed13e4 4 #include<math.h>
Ludwigfr 0:9f7ee7ed13e4 5
Ludwigfr 0:9f7ee7ed13e4 6 /*
Ludwigfr 0:9f7ee7ed13e4 7 Robot coordinate system: World coordinate system:
Ludwigfr 0:9f7ee7ed13e4 8 ^ ^
Ludwigfr 0:9f7ee7ed13e4 9 |x |y
Ludwigfr 0:9f7ee7ed13e4 10 <--R O-->
Ludwigfr 0:9f7ee7ed13e4 11 y x
Ludwigfr 0:9f7ee7ed13e4 12
Ludwigfr 0:9f7ee7ed13e4 13 Screen coordinate system
Ludwigfr 0:9f7ee7ed13e4 14 x
Ludwigfr 0:9f7ee7ed13e4 15 O--->
Ludwigfr 0:9f7ee7ed13e4 16 y|
Ludwigfr 0:9f7ee7ed13e4 17 v
Ludwigfr 0:9f7ee7ed13e4 18
Ludwigfr 0:9f7ee7ed13e4 19 how the float[2] arrays stock the position
Ludwigfr 0:9f7ee7ed13e4 20 Start at 0,0 end top right
Ludwigfr 0:9f7ee7ed13e4 21 ^
Ludwigfr 0:9f7ee7ed13e4 22 |heightIndice
Ludwigfr 0:9f7ee7ed13e4 23 |
Ludwigfr 0:9f7ee7ed13e4 24 _____>
Ludwigfr 0:9f7ee7ed13e4 25 widthIndice
Ludwigfr 0:9f7ee7ed13e4 26 */
Ludwigfr 0:9f7ee7ed13e4 27
Ludwigfr 0:9f7ee7ed13e4 28
Ludwigfr 0:9f7ee7ed13e4 29 class Map {
Ludwigfr 0:9f7ee7ed13e4 30
Ludwigfr 0:9f7ee7ed13e4 31 public:
Ludwigfr 0:9f7ee7ed13e4 32 float widthRealMap;
Ludwigfr 0:9f7ee7ed13e4 33 float heightRealMap;
Ludwigfr 0:9f7ee7ed13e4 34 int nbCellWidth;
Ludwigfr 0:9f7ee7ed13e4 35 int nbCellHeight;
Ludwigfr 0:9f7ee7ed13e4 36 float sizeCellWidth;
Ludwigfr 0:9f7ee7ed13e4 37 float sizeCellHeight;
Ludwigfr 0:9f7ee7ed13e4 38 float** cellsLogValues;
Ludwigfr 0:9f7ee7ed13e4 39 float** initialLogValues;
Ludwigfr 0:9f7ee7ed13e4 40
Ludwigfr 0:9f7ee7ed13e4 41 Map(float widthRealMap, float heightRealMap, int nbCellWidth, int nbCellHeight);
Ludwigfr 0:9f7ee7ed13e4 42
Ludwigfr 0:9f7ee7ed13e4 43 float cell_width_coordinate_to_world(int i);
Ludwigfr 0:9f7ee7ed13e4 44
Ludwigfr 0:9f7ee7ed13e4 45 float cell_height_coordinate_to_world(int j);
Ludwigfr 0:9f7ee7ed13e4 46
Ludwigfr 0:9f7ee7ed13e4 47 float get_proba_cell(int widthIndice, int heightIndice);
Ludwigfr 0:9f7ee7ed13e4 48
Ludwigfr 0:9f7ee7ed13e4 49 void fill_map_with_initial();
Ludwigfr 0:9f7ee7ed13e4 50
Ludwigfr 0:9f7ee7ed13e4 51 //Updates map value
Ludwigfr 0:9f7ee7ed13e4 52 void update_cell_value(int widthIndice,int heightIndice ,float proba);
Ludwigfr 0:9f7ee7ed13e4 53
Ludwigfr 0:9f7ee7ed13e4 54 //returns the probability [0,1] that the cell is occupied from the log valAue lt
Ludwigfr 0:9f7ee7ed13e4 55 float log_to_proba(float lt);
Ludwigfr 0:9f7ee7ed13e4 56
Ludwigfr 0:9f7ee7ed13e4 57 //returns the log value that the cell is occupied from the probability value [0,1]
Ludwigfr 0:9f7ee7ed13e4 58 float proba_to_log(float p);
Ludwigfr 0:9f7ee7ed13e4 59
Ludwigfr 0:9f7ee7ed13e4 60 private:
Ludwigfr 0:9f7ee7ed13e4 61
Ludwigfr 0:9f7ee7ed13e4 62 //fill initialLogValues with the values we already know (here the bordurs)
Ludwigfr 0:9f7ee7ed13e4 63 void fill_initialLogValues();
Ludwigfr 0:9f7ee7ed13e4 64
Ludwigfr 0:9f7ee7ed13e4 65 /*
Ludwigfr 0:9f7ee7ed13e4 66
Ludwigfr 0:9f7ee7ed13e4 67 float robot_x_coordinate_in_world(float robot_x, float robot_y);
Ludwigfr 0:9f7ee7ed13e4 68
Ludwigfr 0:9f7ee7ed13e4 69 float robot_y_coordinate_in_world(float robot_x, float robot_y);
Ludwigfr 0:9f7ee7ed13e4 70
Ludwigfr 0:9f7ee7ed13e4 71 void print_final_map();
Ludwigfr 0:9f7ee7ed13e4 72
Ludwigfr 0:9f7ee7ed13e4 73 void print_final_map_with_robot_position(float robot_x,float robot_y);
Ludwigfr 0:9f7ee7ed13e4 74
Ludwigfr 0:9f7ee7ed13e4 75 void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWolrd, float targetYWorld);
Ludwigfr 0:9f7ee7ed13e4 76 */
Ludwigfr 0:9f7ee7ed13e4 77 };
Ludwigfr 0:9f7ee7ed13e4 78
Ludwigfr 0:9f7ee7ed13e4 79 #endif
Ludwigfr 0:9f7ee7ed13e4 80