rover_obstacles.h

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/*
 * Copyright (C) 2025 Alejandro Rochas <alrochas@ucm.es>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 */
 
#ifndef ROVER_OBSTACLES_H
#define ROVER_OBSTACLES_H
 
 
#ifndef N_COL_GRID
#define N_COL_GRID 100
#endif
 
#ifndef N_ROW_GRID
#define N_ROW_GRID 100
#endif
 
#include "std.h"
 
 
typedef struct{
  int8_t LT;          // Threshold for occupied/cells (log-odds)
  float threshold;    // Threshold for occupied/free cells
  float occ;          // Occupied cells probability
  float free;         // Free cells probability
  uint8_t decay;        // Decay Probability (log-odds)
} bayesian_map;
 
 
typedef struct{
  int8_t world[N_ROW_GRID][N_COL_GRID];
  float xmin;
  float xmax;
  float ymin;
  float ymax;
  float home[2];
  float dx;
  float dy;
  uint16_t now_row;
  int is_ready;
  bayesian_map map;
} world_grid;
 
extern world_grid obstacle_grid;
 
#define GRID_BLOCK_SIZE 4
extern uint8_t grid_block_size; // This is only used in CBF
 
 
extern void init_grid(uint8_t pa, uint8_t pb);
extern void init_grid_4(uint8_t wp1, uint8_t wp2, uint8_t wp3, uint8_t wp4);
extern void obtain_cell_xy(float px, float py, int *cell_x, int *cell_y);
 
extern void fill_cell(float px, float py);
extern void fill_bayesian_cell(float px, float py);
extern void fill_free_cells(float lidar, float angle);
 
extern void decay_map(void);
extern void update_line_bayes(int x0, int y0, int x1, int y1);
extern void update_cell(int x, int y, int new_value);
extern void compute_cell_bayes(int x, int y, bool is_occupied);
extern void check_probs(void);
 
 
#endif // ROVER_OBSTACLES_H