2 #if !defined(WIN32) || defined (__MINGW32__)
6 #include <netinet/in.h>
10 #include <libplayercore/playercore.h>
42 #define LOCAL2GLOBAL_X(x,y,px,py,pa) (cos(pa)*(x) - sin(pa)*(y) + px)
43 #define LOCAL2GLOBAL_Y(x,y,px,py,pa) (sin(pa)*(x) + cos(pa)*(y) + py)
44 #define MAP_INDEX(map, i, j) (int)((i) + (j) * map.width)
45 #define MAP_VALID(map, i, j) ((i >= 0) && (i <= (int)map.width) && (j >= 0) && (j <= (int)map.height))
46 #define ROTATE_X(x,y,th) (cos(th)*(x) - sin(th)*(y))
47 #define ROTATE_Y(x,y,th) (sin(th)*(x) + cos(th)*(y))
56 double sonar_treshold;
57 double sonar_aperture;
58 double sensor_model(
double x,
double y,
double r);
63 sonar_aperture=0.5235987;
101 MAP_POSE(
double px1,
double py1,
double pa1,
double P1)
111 class Map :
public map<MAP_POINT,MAP_POSE>
122 float sonar_treshold;
133 player_map_data_t ToPlayer();
157 std::cout<<
"not implemented yet" << std::endl;
160 double Sonar::sensor_model(
double x,
double y,
double r)
162 return(exp((-pow(x,2)/r)-(pow(y,2)/sonar_aperture))/((
double)1.7));
Definition: gridmap.h:112
int width
the map is defined as x,y -> pose (px,py,pa,P)
Definition: gridmap.h:117