Diff: Map.hpp

Revision:

0:9f7ee7ed13e4

Child:

3:37345c109dfc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Map.hpp	Mon Jun 26 12:05:20 2017 +0000
@@ -0,0 +1,80 @@
+#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);
+    
+    void fill_map_with_initial();
+    
+    //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);
+    
+    private:
+    
+    //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
+