map.c File Reference

#include "map.h"
#include <sys/shm.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/stat.h>
#include <math.h>

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Defines
#define	GETMAPPOS(i, j)   (map->cells[j][i].value)
	This is an internal macro, do not use out of map.c.
#define	GETFLAG(i, j)   (map->cells[j][i].flag)
	This is an internal macro, do not use out of map.c.
Functions
Shared Memory Map related functions
int	ShmapInit (int init_flag)
void	ShmapFree (void)
void	ShmapDt (void)
int	ShmapIsMapInit (void)
Map manage
void	ShmapAllFreeSpace (void)
void	ShmapClearOldPath (void)
int	ShmapIsCellInMap (int x, int y)
	Gives information about a cell.
int	ShampIsPointInMap (double x_m, double y_m)
int	ShmapSetCellValue (int x, int y, MapCellValue value)
	Puts the specified cell type in the given map position.
int	ShmapSetPointValue (double x_m, double y_m, MapCellValue value)
void	ShmapUpdateTmpObstacles (MapCellValue val)
MapCellValue	ShmapGetCellValue (int x, int y)
MapCellValue	ShmapGetPointValue (double x_m, double y_m)
int	ShmapIsFreeCell (int x, int y)
int	ShmapIsFreePoint (double x_m, double y_m)
int	ShmapSetRectangleType (double x1, double y1, double x2, double y2, MapCellValue cell)
Coordonates translation
int	ShmapPoint2Cell_X (double x)
int	ShmapPoint2Cell_Y (double y)
double	ShmapCell2Point_X (int x)
double	ShmapCell2Point_Y (int y)
Functions to manage the flags
int	ShmapSetCellFlag (int x, int y, MapCellFlag flag)
int	ShmapSetPointFlag (double x_m, double y_m, MapCellFlag flag)
MapCellFlag	ShmapGetCellFlag (int x, int y)
MapCellFlag	ShmapGetPointFlag (double x_m, double y_m)
Variables
static Map *	map = NULL
int	shmap_id

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Detailed Description

Useful functions related map

Author:

Jose Maria Martin Laguna <jmmartin@etud.insa-toulouse.fr> This file contains functions to manage map. The map should be accessed only by this library.

Todo:

Lock the map! if while we are doing something in the map, somewhere the function ShmapFree() is called, segfault occurs.

Definition in file map.c.

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Function Documentation

int ShampIsPointInMap	(	double	x_m,
		double	y_m
	)

Give information about if a point is in map

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point

Returns:

1 if point is in map, 0 otherwise

Definition at line 146 of file map.c.

References ShmapIsCellInMap(), ShmapPoint2Cell_X(), and ShmapPoint2Cell_Y().

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void ShmapAllFreeSpace

(

void

)

Initialize Map Memory with MAP_FREE value and MAP_FLAG_NO_FLAG flag.

See also:

map MAP_FREE

Definition at line 105 of file map.c.

References MAP_FREE, MAP_HEIGHT, MAP_WIDTH, ShmapSetCellFlag(), and ShmapSetCellValue().

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double ShmapCell2Point_X

(

int

x

)

Translates from cell X coordonate to real coordonate.

Parameters:

x

Coodonte X of a cell.

Returns:

X value in real coordonate, -1 if the coordonate is not in map

Definition at line 332 of file map.c.

References MAP_WIDTH.

Referenced by aAlgorithm().

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double ShmapCell2Point_Y

(

int

y

)

Translates from cell Y coordonate to real coordonate.

Parameters:

y

Coodonte Y of a cell.

Returns:

Y value in real coordonate, -1 if the coordonate is not in map

Definition at line 343 of file map.c.

References MAP_HEIGHT.

Referenced by aAlgorithm().

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void ShmapClearOldPath

(

void

)

Clear old path in the map.

See also:

map MAP_FREE

Definition at line 119 of file map.c.

References MAP_FREE, MAP_HEIGHT, MAP_WIDTH, ShmapIsFreeCell(), and ShmapSetCellValue().

Referenced by path_planner().

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void ShmapDt

(

void

)

Deatach Shared Map memory

Definition at line 80 of file map.c.

void ShmapFree

(

void

)

Free Shared Map memory

Definition at line 69 of file map.c.

References shmap_id.

MapCellFlag ShmapGetCellFlag	(	int	x,
		int	y
	)

Get cell flag

Parameters:

	x	Coordonate X of a cell
	y	Coordonate Y of a cell

Returns:

the flag of the cell

Definition at line 385 of file map.c.

References GETFLAG, and ShmapIsCellInMap().

Referenced by ShmapGetPointFlag().

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MapCellValue ShmapGetCellValue	(	int	x,
		int	y
	)

Give information about a cell

Parameters:

	x	Coordonate of a cell
	y	Coordonate of a cell

Returns:

The value of the cell

Definition at line 210 of file map.c.

References GETMAPPOS, ShmapIsCellInMap(), and ShmapIsMapInit().

Referenced by ShmapGetPointValue(), ShmapIsFreeCell(), ShmapUpdateTmpObstacles(), and trajctory_recalc().

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MapCellFlag ShmapGetPointFlag	(	double	x_m,
		double	y_m
	)

Get point flag

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point

Returns:

the flag of the point

Definition at line 395 of file map.c.

References ShmapGetCellFlag(), ShmapPoint2Cell_X(), and ShmapPoint2Cell_Y().

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MapCellValue ShmapGetPointValue	(	double	x_m,
		double	y_m
	)

Get point value

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point

Returns:

the value of point

Definition at line 222 of file map.c.

References ShmapGetCellValue(), ShmapPoint2Cell_X(), and ShmapPoint2Cell_Y().

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int ShmapInit

(

int

init_flag

)

Init Shared Map memory

Parameters:

init_flag

1 to init with MAP_FREE value

Returns:

1 This function allocates memory for shared map if this memory does not exists.

Definition at line 39 of file map.c.

References SHM_MAP_KEY, shmap_id, and ShmapAllFreeSpace().

Referenced by robomon::obstackleSimulation().

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int ShmapIsCellInMap	(	int	x,
		int	y
	)

Gives information about a cell.

Parameters:

	x	Coordonate of a cell
	y	Coordonate of a cell

Returns:

1 if cell is in map, 0 otherwise

Definition at line 136 of file map.c.

References MAP_HEIGHT, and MAP_WIDTH.

Referenced by aAlgorithm(), calculateMapHeuristic(), ShampIsPointInMap(), ShmapGetCellFlag(), ShmapGetCellValue(), ShmapIsFreeCell(), ShmapSetCellFlag(), and ShmapSetCellValue().

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int ShmapIsFreeCell	(	int	x,
		int	y
	)

Give information about if a cell is free.

Parameters:

	x	Coordonate of a cell
	y	Coordonate of a cell

Returns:

1 if the cell is not an obstacle, -1 if the cell is not in the map, 0 otherwise Following cells are consider as free cells: MAP_START, MAP_GOAL, MAP_PATH, MAP_FREE.

Definition at line 233 of file map.c.

References MAP_FREE, MAP_GOAL, MAP_PATH, MAP_START, ShmapGetCellValue(), and ShmapIsCellInMap().

Referenced by aAlgorithm(), cFunction(), ShmapClearOldPath(), and ShmapIsFreePoint().

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int ShmapIsFreePoint	(	double	x_m,
		double	y_m
	)

Give information about if a point is free.

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point

Returns:

1 if the cell is not an obstacle, -1 if the cell is not in the map, 0 otherwise Following points are consider as free points: MAP_START, MAP_GOAL, MAP_PATH, MAP_FREE.

Definition at line 255 of file map.c.

References ShmapIsFreeCell(), ShmapPoint2Cell_X(), and ShmapPoint2Cell_Y().

Referenced by path_planner(), and trajctory_recalc().

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int ShmapIsMapInit

(

void

)

Check if Shared Map memory is init

Returns:

1 if it is, 0 otherwise

Definition at line 89 of file map.c.

Referenced by path_planner(), ShmapGetCellValue(), and ShmapUpdateTmpObstacles().

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int ShmapPoint2Cell_X

(

double

x

)

Translates from real X coordonate (in meters) to grid cell coordonates

Parameters:

x

Coodonte of X

Returns:

X value in cell position, -1 if the coordonate is not in map

Definition at line 305 of file map.c.

Referenced by aAlgorithm(), ShampIsPointInMap(), ShmapGetPointFlag(), ShmapGetPointValue(), ShmapIsFreePoint(), ShmapSetPointFlag(), ShmapSetPointValue(), ShmapSetRectangleType(), and trajctory_recalc().

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int ShmapPoint2Cell_Y

(

double

y

)

Translates from real y (in meters) coordonate to grid cell coordonates

Parameters:

y

Coodonte of Y in m

Returns:

Y value in cell position, -1 if the coordonate is not in map

Definition at line 319 of file map.c.

References MAP_HEIGHT.

Referenced by aAlgorithm(), ShampIsPointInMap(), ShmapGetPointFlag(), ShmapGetPointValue(), ShmapIsFreePoint(), ShmapSetPointFlag(), ShmapSetPointValue(), ShmapSetRectangleType(), and trajctory_recalc().

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int ShmapSetCellFlag	(	int	x,
		int	y,
		MapCellFlag	flag
	)

Set cell flag

Parameters:

	x	Coordonate X of a cell
	y	Coordonate Y of a cell
	flag	Flag setting

Returns:

1 on succes, 0 otherwise

Definition at line 361 of file map.c.

References GETFLAG, and ShmapIsCellInMap().

Referenced by ShmapAllFreeSpace(), and ShmapSetPointFlag().

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int ShmapSetCellValue	(	int	x,
		int	y,
		MapCellValue	value
	)

Puts the specified cell type in the given map position.

Parameters:

	x	Coordonate of a cell
	y	Coordonate of a cell
	type	Type of cell

Returns:

1 if cell is in map, 0 otherwise

Definition at line 159 of file map.c.

References GETMAPPOS, and ShmapIsCellInMap().

Referenced by getPathLength(), ShmapAllFreeSpace(), ShmapClearOldPath(), ShmapSetPointValue(), ShmapSetRectangleType(), ShmapUpdateTmpObstacles(), and trajctory_recalc().

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int ShmapSetPointFlag	(	double	x_m,
		double	y_m,
		MapCellFlag	flag
	)

Set point flag

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point
	flag	The flag to set

Returns:

1 on succes, 0 otherwise

Definition at line 375 of file map.c.

References ShmapPoint2Cell_X(), ShmapPoint2Cell_Y(), and ShmapSetCellFlag().

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int ShmapSetPointValue	(	double	x_m,
		double	y_m,
		MapCellValue	value
	)

Put a type in a point

Parameters:

	x_m	Coordonate X (in m) of a point
	y_m	Coordonate Y (in m) of a point

Returns:

the type of point

Definition at line 172 of file map.c.

References ShmapPoint2Cell_X(), ShmapPoint2Cell_Y(), and ShmapSetCellValue().

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int ShmapSetRectangleType	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		MapCellValue	cell
	)

Creates an obstacle in the map

Parameters:

	x1	Coordonate X (in m) of the first point
	y1	Coordonate Y (in m) of the first point
	x2	Coordonate X (in m) of the second point
	y2	Coordonate Y (in m) of the second point
	cell	Type of obstacle.

Definition at line 268 of file map.c.

References ShmapPoint2Cell_X(), ShmapPoint2Cell_Y(), and ShmapSetCellValue().

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void ShmapUpdateTmpObstacles

(

MapCellValue

val

)

Decrease MAP_NEW_OBSTACLE cells in val units

Parameters:

val

Value to decrease obstacle life.

See also:

map MAP_NEW_OBSTACLE

Todo:

Do faster this process. Use a cell's list to update.

Go across the map.

Get cell value.

If the cell value is between MAP_NEW_OBSTACLE and MAP_FREE

decreases cell value in val units.

Definition at line 182 of file map.c.

References MAP_FREE, MAP_HEIGHT, MAP_NEW_OBSTACLE, MAP_WIDTH, ShmapGetCellValue(), ShmapIsMapInit(), and ShmapSetCellValue().

Referenced by thread_update_map().

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