/usr/include/player-3.0/libpmap/omap.h is in libpmap3.0-dev 3.0.2+dfsg-4.1ubuntu3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 | /*
pmap: simple mapping utilities
Copyright (C) 2004 Andrew Howard ahoward@usc.edu
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
/** @file omap.h
@brief The omap library creates occupancy grids from aligned laser data.
*/
#ifndef OMAP_H
#define OMAP_H
#include "slap.h"
#ifdef __cplusplus
extern "C"
{
#endif
/// @brief omap object data
typedef struct
{
/// Number of range points in each scan
int num_ranges;
/// Maximum accepted range
double range_max;
/// Start angle for scans
double range_start;
/// Angular resolution of scans
double range_step;
/// Grid dimensions
double grid_res;
int grid_sx, grid_sy, grid_size;
/// Match grid (contains projected boundary points)
signed char *grid;
} omap_t;
/// @brief Allocate object
omap_t *omap_alloc(int num_ranges, double range_max,
double range_start, double range_step,
double grid_width, double grid_height, double grid_res);
/// @brief Free object
void omap_free(omap_t *self);
/// @brief Clear the map.
void omap_clear(omap_t *self);
/// @brief Add a scan to the map
void omap_add(omap_t *self, pose2_t pose, int num_ranges, double *ranges);
/// @brief Save as PGM format
/// @returns Returns non-zero on error.
int omap_save_pgm(omap_t *self, const char *filename);
/// @brief Draw the current map.
/// @param scale Pixel scale (m/pixel).
void omap_draw_map(omap_t *self, double scale);
/// @brief Grid access macros
#define OMAP_GRIDX(self, x) ((int) floor((x) / self->grid_res) + self->grid_sx / 2)
#define OMAP_GRIDY(self, y) ((int) floor((y) / self->grid_res) + self->grid_sy / 2)
#define OMAP_GRID_VALID(self, x, y) ((x) >= 0 && (x) < self->grid_sx && \
(y) >= 0 && (y) < self->grid_sy)
#define OMAP_GRID_INDEX(self, x, y) ((x) + (y) * self->grid_sx)
#ifdef __cplusplus
}
#endif
#endif
|