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00033 #ifndef SFGRID_H
00034 #define SFGRID_H
00035
00036 #undef SFEXPORT
00037 #if defined(MS_WINDOWS) && !defined(SF_STATIC)
00038 #ifdef MAKE_LIBRARY
00039 #define _declspec( dllexport )
00040 #else
00041 #define _declspec( dllimport )
00042 #endif
00043 #else
00044 #define SFEXPORT
00045 #endif
00046
00047
00048
00049
00050
00051
00052
00053
00054 class SfCellIndex
00055 {
00056 public:
00057 SfCellIndex();
00058 virtual ~SfCellIndex();
00059
00060 int getGridRes()
00061 { return (int)gridres; }
00062 virtual bool setGridRes(int res);
00063
00064 bool InBounds(double, double);
00065
00066 void setSize(SfVector &s);
00067 int xsize, ysize;
00068 SfVector size;
00069 double gridres, igridres;
00070
00071 int grid_index(double, double);
00072 bool grid_coords(double, double, int *, int *);
00073
00074 bool rw_coords(int, int, double *, double *);
00075 bool in_bounds(int, int);
00076 };
00077
00078
00079
00080 class SfRay
00081 {
00082 public:
00083 SfRay(double angle, double gridres, double len, int width);
00084
00085 int num;
00086 int *addr;
00087 double *dd;
00088 };
00089
00090
00091
00092 class SfPtArray
00093 {
00094 public:
00095 SfPtArray(double angle, int n);
00096 void SfPtArray::Set(double *xb, double *yb, int np, double gridres, int width);
00097 double cs, sn;
00098 int num;
00099 int *addr;
00100 };
00101
00102
00103
00104
00105
00106
00107
00108
00109 class SfGrid : public SfDrawable, public SfCellIndex
00110 {
00111 public:
00112 SfGrid();
00113 virtual ~SfGrid();
00114 void CreateGrid(double res, SfVector *size = NULL,
00115 SfArtifactList * = NULL, double margin = 0.0);
00116 void AddSegment(SfWall *w);
00117 void AddSegments(SfArtifactList *);
00118 void EraseGrid();
00119 void SmearGrid(double smear = -1);
00120 void Threshold(int thresh);
00121 void MoveGrid(double gx, double gy);
00122
00123 int GridSmearDist()
00124 { return (int)gridsmear; }
00125 bool GridSmearDist(int smear);
00126
00127 virtual bool setGridRes(int res);
00128 int GridMaxVal()
00129 { return gridmax; }
00130 bool GridMaxVal(int v);
00131
00132 unsigned char GridVal(double, double);
00133 void GridVal(double, double, int v);
00134 void IncGridVal(double, double, int v);
00135 bool SetBounds(ArPose &p, double near, double place);
00136
00137 void CreateRays(int num, double len);
00138 double NearDist(double x, double y, double th);
00139 void CreatePtArrays(int num, int np);
00140 void SetPtArrays(double *xb, double *yb, int np);
00141 unsigned char *grid, *ogrid;
00142
00144
00145 bool displaySmear, displayGrid, displayArtifacts;
00146
00147
00148 void draw(SfWin *w);
00149 double tx, ty, tth;
00150
00151
00152 void LoadScanMap(char *name);
00153
00154 protected:
00155 SfArtifactList *alist;
00156 int msize;
00157 double gridsmear;
00158 int gridmax;
00159
00160
00161 double angleres;
00162 int anglenum;
00163 SfRay **angles;
00164
00165
00166 double rotres;
00167 int rotnum;
00168 SfPtArray **pts;
00169 };
00170
00171 #endif // SFGRID_H