libs/orcaobj/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, Ben Upcroft
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_OG_MAP_H
00012 #define ORCAOBJ_OG_MAP_H
00013 
00014 #include <orca/ogmap.h>
00015 
00016 namespace orcaobj
00017 {
00018 
00020 inline unsigned char& gridCell( orca::OgMapData& obj, int indX, int indY )
00021 { 
00022     return obj.data[ indY*obj.numCellsX + indX ]; 
00023 }
00024 
00026 inline int gridCellIndex( const orca::OgMapData& obj, int indX, int indY )
00027 { 
00028     return indY*obj.numCellsX + indX; 
00029 }
00030 
00034 char displayOgmapCell(unsigned char cell);
00035 
00037 std::string toString( const orca::OgMapData& );
00038 
00041 std::string toVerboseString( const orca::OgMapData& );
00042 
00043 } // namespace
00044 
00045 #endif