Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, George Mathews
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef HYDROOGMAP_OGMAP_H
00011 #define HYDROOGMAP_OGMAP_H
00012 
00013 #include <hydroogmap/genericmap.h>
00014 #include <hydroportability/sharedlib.h>
00015 
00016 namespace hydroogmap {
00017 
00021     typedef GenericMap<unsigned char> OgMap;
00022 
00025     SOEXPORT const int CELL_EMPTY = 0;
00026 
00029     SOEXPORT const int CELL_UNKNOWN = 127;
00030 
00034     SOEXPORT const int CELL_OCCUPIED = 254;
00035 
00044     SOEXPORT void fuse( OgMap &master, const OgMap &update, unsigned char newCells=127 ); 
00045     
00049     SOEXPORT void overlay( OgMap &master, const OgMap &slave ); 
00050 
00052     SOEXPORT std::string toText( const OgMap &map );
00053 
00055     SOEXPORT char displayOgmapCell(unsigned char cell);
00056 
00057 }    
00058 
00059 #endif
ogmap.h
