search_map.c File Reference

Library for generic map to store and search from sensor data. More...

#include "modules/search_and_rescue/search_map.h"
#include "modules/nav/waypoints.h"

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Macros
#define	SEARCH_MAP_DEBUG   0
#define	DEBUG_PRINT(...)   {}

Functions
void	search_map_init (struct search_map_t *map, struct NedCoor_f pos, float res)
	init map
void	search_map_init_from_wp (struct search_map_t *map, uint8_t wp_id, float res)
	init map from waypoint
void	search_map_reset (struct search_map_t *map)
	reset map
bool	search_map_update (struct search_map_t *map, float data, struct NedCoor_f pos)
	update map with new data
float	search_map_get_barycenter (struct search_map_t *map, float threshold, struct NedCoor_f *pos)
	get weighted center of the data, expected to be the search position
void	search_map_update_wp (struct search_map_t *map, float threshold, uint8_t wp_id)
	update waypoint position from map

Detailed Description

Library for generic map to store and search from sensor data.

Definition in file search_map.c.

Macro Definition Documentation

DEBUG_PRINT

#define DEBUG_PRINT

(

...

)

{}

Definition at line 34 of file search_map.c.

SEARCH_MAP_DEBUG

#define SEARCH_MAP_DEBUG   0

Definition at line 29 of file search_map.c.

Function Documentation

search_map_get_barycenter()

float search_map_get_barycenter	(	struct search_map_t *	map,
		float	threshold,
		struct NedCoor_f *	pos
	)

get weighted center of the data, expected to be the search position

Parameters

[in]	map	pointer to map
[in]	threshold	value between 0 and 1 to filter data (only consider the normalized data above the threshold)
[out]	pos	pointer to computed position

Returns

quality (the averaged data at barycenter)

Definition at line 79 of file search_map.c.

References search_map_t::center, DEBUG_PRINT, foo, search_map_t::grid, offset, search_map_t::res, SEARCH_MAP_SIZE, val, NedCoor_f::x, NedCoor_f::y, and NedCoor_f::z.

Referenced by search_map_update_wp().

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search_map_init()

void search_map_init	(	struct search_map_t *	map,
		struct NedCoor_f	pos,
		float	res
	)

init map

Parameters

[in]	map	pointer to map
[in]	pos	position of the map center
[in]	res	resolution of the map in m per cell

Definition at line 38 of file search_map.c.

References search_map_t::center, DEBUG_PRINT, foo, search_map_t::grid, search_map_t::res, SEARCH_MAP_SIZE, NedCoor_f::x, and NedCoor_f::y.

Referenced by search_map_init_from_wp().

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search_map_init_from_wp()

void search_map_init_from_wp	(	struct search_map_t *	map,
		uint8_t	wp_id,
		float	res
	)

init map from waypoint

Parameters

[in]	map	pointer to map
[in]	wp_id	waypoint ID
[in]	res	resolution of the map in m per cell

Definition at line 50 of file search_map.c.

References ENU_OF_TO_NED, foo, search_map_init(), and waypoint_get_enu_f().

Referenced by scout_detector_init().

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search_map_reset()

void search_map_reset

(

struct search_map_t *

map

)

reset map

Parameters

[in]

map

pointer to map

Definition at line 58 of file search_map.c.

References foo, search_map_t::grid, and SEARCH_MAP_SIZE.

search_map_update()

bool search_map_update	(	struct search_map_t *	map,
		float	data,
		struct NedCoor_f	pos
	)

update map with new data

Parameters

[in]	map	pointer to map
[in]	data	new data
[in]	pos	position of the new data

Returns

false is position is outside the map

Definition at line 67 of file search_map.c.

References search_map_t::center, DEBUG_PRINT, foo, search_map_t::grid, search_map_t::res, SEARCH_MAP_SIZE, NedCoor_f::x, and NedCoor_f::y.

Referenced by scout_detector_sim(), and scout_detector_uavcan_cb().

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search_map_update_wp()

void search_map_update_wp	(	struct search_map_t *	map,
		float	threshold,
		uint8_t	wp_id
	)

update waypoint position from map

Parameters

[in]	map	pointer to map
[in]	threshold	value between 0 and 1 to filter data (only consider the normalized data above the threshold)
[in]	wp_id	waypoint ID

Definition at line 135 of file search_map.c.

References ENU_OF_TO_NED, foo, search_map_get_barycenter(), and waypoint_set_enu().

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