MapDef.h

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// Copyright (C) 2002 Martin Larochelle et Mathieu Lemay

#ifndef _MAPDEF_H_
#define _MAPDEF_H_

namespace RobotFlow {

#define MAP_MAX_ROW                 500
#define MAP_MAX_COLUMN              500
#define MAP_HEADER_SIZE             10
#define NETWORK_MAP_HEADER_SIZE     12

// Used in map probe
#define MAP_MAX_DISPLAY_ROW         150
#define MAP_MAX_DISPLAY_COLUMN      150

#define SKIP_RAY_LASER              1     // the number of ray to skip when the map is converted
#define MAX_LASER_RAY               361   // 180 degree * 2 (0,5 degree presision) + 1 [0,360]
#define MAX_LASER_LENGTH            8191  // length max that the LSM can read (in mm)

#define MAP_ITEM_UNKNOWN            127   // It's the probability to have an obstacle
#define MAP_ITEM_EMPTY              0     // 0   = 0 %
#define MAP_ITEM_OBSTACLE           255   // 255 = 100 %
#define MAP_MODIFICATION_FACTOR     30

#define ROBOT_WITH                  45
#define ROBOT_LENGTH                90


typedef unsigned char BYTE;


///////////////////////////////////////////////////////////////////////////
////  Structure
//

struct sPosition
{
   int x;      // in mm
   int y;      // in mm
   int theta;  // in degree
};

struct sInputData
{
   unsigned short nLaserData[MAX_LASER_RAY];
   sPosition      sRobotPosition;
};

}//namespace RobotFlow

#endif  // _MAPDEF_H_

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