hydrolibs/hydroogmap/ogmap.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 unsigned char CELL_EMPTY = 0;
00026 
00029     SOEXPORT const unsigned char CELL_UNKNOWN = 127;
00030 
00034     SOEXPORT const unsigned char CELL_OCCUPIED = 254;
00035 
00036     inline SOEXPORT bool isTraversable( unsigned char cellVal,
00037                                         int occupiedLowerBound=CELL_UNKNOWN )
00038     { return (cellVal < occupiedLowerBound); }
00039 
00040     inline SOEXPORT bool isWorldCellTraversable( const OgMap &ogMap,
00041                                                  double worldX,
00042                                                  double worldY,
00043                                                  int occupiedLowerBound=CELL_UNKNOWN )
00044     {
00045         unsigned char cellVal;
00046         if ( !ogMap.tryWorldCell( worldX, worldY, cellVal ) ) return false;
00047         return isTraversable( cellVal, occupiedLowerBound );
00048     }
00049 
00058     SOEXPORT void fuse( OgMap &master, const OgMap &update, unsigned char newCells=127 ); 
00059     
00063     SOEXPORT void overlay( OgMap &master, const OgMap &slave ); 
00064 
00066     SOEXPORT std::string toText( const OgMap &map );
00067 
00069     SOEXPORT char displayOgmapCell(unsigned char cell);
00070 
00071 }    
00072 
00073 #endif