search_map.h

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/*
 * Copyright (C) 2026 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * 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, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef SEARCH_MAP_H
#define SEARCH_MAP_H
 
#include "std.h"
#include "math/pprz_geodetic_float.h"
 
#ifndef SEARCH_MAP_SIZE
#define SEARCH_MAP_SIZE 51
#endif
 
struct search_map_t {
  float grid[SEARCH_MAP_SIZE][SEARCH_MAP_SIZE]; 
  struct NedCoor_f center;                      
  float res;                                    
};
 
 
extern void search_map_init(struct search_map_t *map, struct NedCoor_f pos, float res);
 
extern void search_map_init_from_wp(struct search_map_t *map, uint8_t wp_id, float res);
 
extern void search_map_reset(struct search_map_t *map);
 
extern bool search_map_update(struct search_map_t *map, float data, struct NedCoor_f pos);
 
extern float search_map_get_barycenter(struct search_map_t *map, float threshold, struct NedCoor_f *pos);
 
extern void search_map_update_wp(struct search_map_t *map, float threshold, uint8_t wp_id);
 
#endif  // SEARCH_MAP_H