rmap.h

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/*
  pmap: simple mapping utilities
  Copyright (C) 2004 Andrew Howard  ahoward@usc.edu

  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU General Public License
  as published by the Free Software Foundation; either version 2
  of the License, or (at your option) any later version.

  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
*/

#ifndef RMAP_H
#define RMAP_H

#ifdef __cplusplus
extern "C"
{
#endif

#include "slap.h"

#define RMAP_MAX_RANGES 401


typedef struct
{
  double time;
  
  int index;

  pose2_t init;
  
  pose2_t pose;

  pose2_t delta;

  double ranges[RMAP_MAX_RANGES];
  
  int num_hits;
  vector2_t hits[RMAP_MAX_RANGES];
  
} rmap_scan_t;


typedef struct rmap_item
{
  rmap_scan_t *scan;

  vector2_t local;

  vector2_t global;
  
  struct rmap_item *next;
  
} rmap_item_t;


typedef struct
{
  rmap_item_t *first, *last;
  
} rmap_cell_t;


typedef struct
{
  rmap_scan_t *scan_a, *scan_b;

  vector2_t local_a, local_b;

  double dist;
  
} rmap_constraint_t;


typedef struct
{
  int num_ranges;
  
  double range_max;

  double range_start;

  double range_step;
  
  double max_dist;

  int range_interval;

  int key_interval;
  
  int num_scans, max_scans;
  rmap_scan_t *scans;

  int num_key_scans;

  double grid_res;
  int grid_sx, grid_sy, grid_size;

  rmap_cell_t *grid;

  int num_items, max_items, items_size;
  rmap_item_t *items;

  int num_cons, max_cons;
  rmap_constraint_t *cons;

  int match_count;
  double relax_err;
  
} rmap_t;


rmap_t *rmap_alloc(int num_ranges, double range_max,
                   double range_start, double range_step,
                   double grid_width, double grid_height);

void rmap_free(rmap_t *self);

void rmap_add(rmap_t *self, double dtime, pose2_t pose, int num_ranges, double *ranges);

void rmap_match(rmap_t *self);

void rmap_match_prepare(rmap_t *self, rmap_scan_t *scan);

void rmap_match_scan(rmap_t *self, rmap_scan_t *scan_a);

void rmap_relax(rmap_t *self, int num_cycles);

void rmap_interpolate(rmap_t *self);

void rmap_draw_map(rmap_t *self);

void rmap_draw_cons(rmap_t *self);


#ifdef __cplusplus
}
#endif

#endif

---