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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_tomap_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.


Detailed Description

The omap library creates occupancy grids from aligned laser data.


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).


Generated on Tue Dec 14 14:37:39 2004 for Simple map utilities by doxygen 1.3.8