map.h
00001 /*************************************************************************** 00002 * Copyright (C) 2005 by Tarek Taha * 00003 * tataha@eng.uts.edu.au * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the GNU General Public License as published by * 00007 * the Free Software Foundation; either version 2 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the GNU General Public License * 00016 * along with this program; if not, write to the * 00017 * Free Software Foundation, Inc., * 00018 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00019 ***************************************************************************/ 00020 #ifndef map_HEADER 00021 #define map_HEADER 00022 00023 #include <gdk-pixbuf/gdk-pixbuf.h> 00024 #include <gtk/gtk.h> 00025 #include <glib/gprintf.h> 00026 00027 #include <sys/stat.h> 00028 class MapInfo 00029 { 00030 public : 00031 int height; 00032 int width; 00033 double pixel_size; 00034 }; 00035 typedef struct mapgrid 00036 { 00037 double prob_occ,prob_free; 00038 bool added; 00039 } mapgrid_t; 00040 class MAP 00041 { 00042 private: 00043 double pixel_size; 00044 int negate; 00045 GdkPixbuf * pixbuf; 00046 public: 00047 int size_x, size_y; 00048 mapgrid * * occ_grid; 00049 char * Mapname; 00050 MapInfo GetMapInfo(); 00051 void SavePixelBufferToFile(); 00052 void DrawPixel(int,int,int,int,int); 00053 void ClearData(); 00054 void ResetProb(); 00055 int SavePgm(); 00056 GdkPixbuf * CreateMap(); 00057 ~MAP(); 00058 MAP(char*, double,double); 00059 }; 00060 #endif