omap.h File Reference

The omap library creates occupancy grids from aligned laser data. More...

#include "slap.h"

Go to the source code of this file.

Classes
struct	omap_t
	omap object data More...
Defines
#define	OMAP_GRIDX(self, x)   ((int) floor((x) / self->grid_res) + self->grid_sx / 2)
	Grid access macros.
Functions
omap_t *	omap_alloc (int num_ranges, double range_max, double range_start, double range_step, double grid_width, double grid_height, double grid_res)
	Allocate object.
void	omap_free (omap_t *self)
	Free object.
void	omap_clear (omap_t *self)
	Clear the map.
void	omap_add (omap_t *self, pose2_t pose, int num_ranges, double *ranges)
	Add a scan to the map.
int	omap_save_pgm (omap_t *self, const char *filename)
	Save as PGM format.
void	omap_draw_map (omap_t *self, double scale)
	Draw the current map.

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Detailed Description

The omap library creates occupancy grids from aligned laser data.

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Function Documentation

int omap_save_pgm (  omap_t *  self, const char *  filename )

Save as PGM format. Returns: Returns non-zero on error.

void omap_draw_map (  omap_t *  self, double  scale )

Draw the current map. Parameters: scale  Pixel scale (m/pixel).

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