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occupancy_grid.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library 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
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA


 * $Id: occupancy_grid.h,v 1.2 2006/07/16 06:11:15 derek Exp $
*/

#ifndef OCCUPANCY_GRID
#define OCCUPANCY_GRID
#include <types.h>
//#include <circle_obstacle_chain.h>
// 30x350 with 4" cells gives about 10'x 116'
// 35x3"= 8.75' x 
// 440 x3" = 110'
//#define GRIDX 35
//#define GRIDY 440
//#define MAPCELL(i,j) ((j*GRIDX+i)/2)
/*
struct ONode 
{
//public:
  uint8 _obstacle;
  uint8 _layer;
};
struct map_grid
{
  ONode get(int ix,int iy);
  ONode  cell[GRIDX][GRIDY];
};
*/

class OGrid
{
public:
  OGrid(void);
  static void map_reset(short iwidth, short iheight);
  static uint8 obstacle(int i, int j); 
  static uint8 layer(int i, int j);
  static void wall(int x, int y, uint8 ctype, uint8 layer=0); 
  static void initialize(void);
  static int debug(int i, int j);
  static int get_debug(int);
  static void set_debug(int, int);
  // Returns whether cell contained within path area.
  static uint8 pathflag(int x, int y);
  static void pathflag(int x, int y, uint8 v);
  static void clear_pathflag(void);
  #ifdef DOS

  static void path(int x, int y, uint8 v);
  static uint8 path(int x, int y);
  #endif
  // for optimization.  Can be dynamically reset, but not persistent.
  static short _map_width;
  static short _map_height;
private:
};

#endif

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