rover_obstacles.h File Reference

#include "std.h"

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Data Structures
struct	bayesian_map
struct	world_grid

Macros
#define	N_COL_GRID   100
#define	N_ROW_GRID   100
#define	GRID_BLOCK_SIZE   4

Functions
void	init_grid (uint8_t pa, uint8_t pb)
void	init_grid_4 (uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4)
void	obtain_cell_xy (float px, float py, int *cell_x, int *cell_y)
void	fill_cell (float px, float py)
void	fill_bayesian_cell (float px, float py)
void	fill_free_cells (float lidar, float angle)
void	decay_map (void)
void	update_line_bayes (int x0, int y0, int x1, int y1)
void	update_cell (int x, int y, int new_value)
void	compute_cell_bayes (int x, int y, bool is_occupied)
void	check_probs (void)

Variables
world_grid	obstacle_grid
uint8_t	grid_block_size

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Data Structure Documentation

bayesian_map

struct bayesian_map

Definition at line 44 of file rover_obstacles.h.

Data Fields
uint8_t	decay
float	free
int8_t	LT
float	occ
float	threshold

world_grid

struct world_grid

Definition at line 53 of file rover_obstacles.h.

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Data Fields
float	dx
float	dy
float	home[2]
int	is_ready
bayesian_map	map
uint16_t	now_row
int8_t	world[N_ROW_GRID][N_COL_GRID]
float	xmax
float	xmin
float	ymax
float	ymin

Macro Definition Documentation

GRID_BLOCK_SIZE

#define GRID_BLOCK_SIZE   4

Definition at line 69 of file rover_obstacles.h.

N_COL_GRID

#define N_COL_GRID   100

Definition at line 34 of file rover_obstacles.h.

N_ROW_GRID

#define N_ROW_GRID   100

Definition at line 38 of file rover_obstacles.h.

Function Documentation

check_probs()

void check_probs ( void  )

extern

Definition at line 344 of file rover_obstacles.c.

References foo, bayesian_map::free, LFREE, LOCC, LT, world_grid::map, obstacle_grid, bayesian_map::occ, PFREE, POCC, PT, SCALE, and bayesian_map::threshold.

Referenced by compute_cell_bayes().

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compute_cell_bayes()

void compute_cell_bayes ( int  x, int  y, bool  is_occupied  )

extern

Definition at line 325 of file rover_obstacles.c.

References check_probs(), foo, L_MAX, L_MIN, LFREE, LOCC, N_COL_GRID, N_ROW_GRID, obstacle_grid, update_cell(), world_grid::world, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by fill_bayesian_cell(), fill_free_cells(), and update_line_bayes().

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decay_map()

void decay_map ( void  )

extern

Definition at line 256 of file rover_obstacles.c.

References bayesian_map::decay, DECAY_INTERVAL, foo, get_sys_time_msec(), last_s, world_grid::map, N_COL_GRID, N_ROW_GRID, obstacle_grid, update_cell(), world_grid::world, EnuCoor_f::x, and EnuCoor_f::y.

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fill_bayesian_cell()

void fill_bayesian_cell ( float  px, float  py  )

extern

Definition at line 203 of file rover_obstacles.c.

References compute_cell_bayes(), foo, world_grid::is_ready, obstacle_grid, obtain_cell_xy(), rover_pos, stateGetPositionEnu_f(), update_line_bayes(), NedCoor_d::x, and NedCoor_d::y.

Referenced by ins_update_lidar().

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fill_cell()

void fill_cell ( float  px, float  py  )

extern

Definition at line 194 of file rover_obstacles.c.

References obstacle_grid, obtain_cell_xy(), and world_grid::world.

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fill_free_cells()

void fill_free_cells ( float  lidar, float  angle  )

extern

Definition at line 222 of file rover_obstacles.c.

References compute_cell_bayes(), foo, world_grid::is_ready, max_distance, N_COL_GRID, N_ROW_GRID, obstacle_grid, obtain_cell_xy(), FloatEulers::psi, rover_pos, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), update_line_bayes(), NedCoor_d::x, and NedCoor_d::y.

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init_grid()

void init_grid ( uint8_t  pa, uint8_t  pb  )

extern

Definition at line 109 of file rover_obstacles.c.

References DefaultPeriodic, world_grid::dx, world_grid::dy, foo, world_grid::is_ready, L0, N_COL_GRID, N_ROW_GRID, world_grid::now_row, obstacle_grid, register_periodic_telemetry(), send_grid_init(), WaypointX, WaypointY, world_grid::world, world_grid::xmax, world_grid::xmin, world_grid::ymax, and world_grid::ymin.

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init_grid_4()

void init_grid_4 ( uint8_t  wp1, uint8_t  wp2, uint8_t  wp3, uint8_t  wp4  )

extern

Definition at line 136 of file rover_obstacles.c.

References DECAY, bayesian_map::decay, DefaultChannel, DefaultDevice, DefaultPeriodic, world_grid::dx, world_grid::dy, foo, bayesian_map::free, world_grid::is_ready, lidar_cb(), lidar_ev, bayesian_map::LT, world_grid::map, N_COL_GRID, N_ROW_GRID, world_grid::now_row, obstacle_grid, OBSTACLES_RECEIVE_ID, bayesian_map::occ, P_FREE, P_OCC, P_T, register_periodic_telemetry(), send_grid_init(), bayesian_map::threshold, WaypointX, WaypointY, world_grid::world, world_grid::xmax, world_grid::xmin, world_grid::ymax, and world_grid::ymin.

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obtain_cell_xy()

void obtain_cell_xy ( float  px, float  py, int *  cell_x, int *  cell_y  )

extern

Definition at line 182 of file rover_obstacles.c.

References world_grid::dx, world_grid::dy, foo, obstacle_grid, world_grid::xmin, and world_grid::ymin.

Referenced by fill_bayesian_cell(), fill_cell(), and fill_free_cells().

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update_cell()

void update_cell ( int  x, int  y, int  new_value  )

extern

Definition at line 306 of file rover_obstacles.c.

References DefaultChannel, DefaultDevice, foo, LT, bayesian_map::LT, world_grid::map, obstacle_grid, world_grid::world, EnuCoor_f::x, and EnuCoor_f::y.

Referenced by compute_cell_bayes(), and decay_map().

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update_line_bayes()

void update_line_bayes ( int  x0, int  y0, int  x1, int  y1  )

extern

Definition at line 289 of file rover_obstacles.c.

References compute_cell_bayes(), and foo.

Referenced by fill_bayesian_cell(), and fill_free_cells().

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Variable Documentation

grid_block_size

uint8_t grid_block_size

extern

Definition at line 76 of file rover_obstacles.c.

obstacle_grid

world_grid obstacle_grid

extern

Definition at line 75 of file rover_obstacles.c.

Referenced by check_probs(), compute_cell_bayes(), decay_map(), fill_bayesian_cell(), fill_cell(), fill_free_cells(), init_grid(), init_grid_4(), obtain_cell_xy(), send_grid_init(), send_obstacle_grid(), and update_cell().