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
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 
00011 #ifndef ORCAOBJ_MISC_UTILITIES_H
00012 #define ORCAOBJ_MISC_UTILITIES_H
00013 
00014 #include <orca/featuremap2d.h>
00015 #include <orca/localise2d.h>
00016 #include <orca/localise3d.h>
00017 #include <orca/ogmap.h>
00018 #include <orca/pathfollower2d.h>
00019 
00020 #include <stdio.h>  // for FILE on QNX
00021 
00022 namespace orcaobj
00023 {
00028 
00032 void normalise( orca::Localise2dData& obj );
00033 
00036 inline double calcAngleIncrement( double fieldOfView, int numReturns )
00037 { return fieldOfView / double(numReturns-1); }
00038 
00040 const orca::Pose2dHypothesis& mlHypothesis( const orca::Localise2dData& obj );
00041 const orca::Pose3dHypothesis& mlHypothesis( const orca::Localise3dData& obj );
00042 bool localisationIsUncertain( const orca::Localise2dData &localiseData,
00043                               double linearThreshold = 5 );
00044 
00050 bool isSane( const orca::PathFollower2dData& pathData, std::string& reason );
00051 
00055 char displayOgmapCell(unsigned char cell);
00056 
00058 inline unsigned char& gridCell( orca::OgMapData& obj, int indX, int indY )
00059 { 
00060     return obj.data[ indY*obj.numCellsX + indX ]; 
00061 }
00062 
00064 inline int gridCellIndex( const orca::OgMapData& obj, int indX, int indY )
00065 { 
00066     return indY*obj.numCellsX + indX; 
00067 }
00068 
00070 void saveToFile( const orca::FeatureMap2dData &fmap, FILE *f );
00071 
00073 void loadFromFile( const std::string &filename, orca::FeatureMap2dData &fmap );
00074 
00075 bool
00076 isPathSketchy( const orca::Path2d& path, std::string &sketchyReason );
00077 
00079 
00080 } // namespace
00081 
00082 #endif
miscutils.h
