LoMap.C File Reference

This file defines the non-inline member functions of the lobot::Map class. More...

#include "Robots/LoBot/slam/LoMap.H"
#include "Robots/LoBot/slam/LoOccGrid.H"
#include "Robots/LoBot/slam/LoCoords.H"
#include "Robots/LoBot/slam/LoSlamParams.H"
#include "Robots/LoBot/config/LoConfigHelpers.H"
#include "Robots/LoBot/util/LoGL.H"
#include "Robots/LoBot/util/LoMath.H"
#include "Robots/LoBot/misc/LoTypes.H"
#include "Robots/LoBot/misc/singleton.hh"
#include "Robots/LoBot/util/triple.hh"
#include <GL/glu.h>
#include <GL/gl.h>
#include <boost/bind.hpp>
#include <string>
#include <algorithm>
#include <functional>
#include <iterator>

Include dependency graph for LoMap.C:

Go to the source code of this file.

Functions
static unsigned char	lobot::log_odds_to_byte (float log_odds)
static void	lobot::trigger_pose_hook (const Map::PoseHook &H, const Pose &p)

---

Detailed Description

This file defines the non-inline member functions of the lobot::Map class.

Definition in file LoMap.C.

---

Variable Documentation

GLColor m_border_color

This setting allows users to customize the color in which the map's drawable border is rendered. By default, it is yellow. The value of this setting should be a triple of integers, each in the range [0,255].

Definition at line 143 of file LoMap.C.

bool m_draw_border

This setting controls whether we want to draw a border around the map's drawing area within the Robolocust UI. Usually, all drawables have borders drawn around them so that they are clearly demarcated from each other. However, in some cases, we may not want these borders around the map. By default, this flag is on, i.e., a border is drawn.

Definition at line 137 of file LoMap.C.

bool m_draw_labels

In addition to the pose, the map also draws some labels on its top left corner. This setting can be used to turn those labels off. By default, they are on.

Definition at line 110 of file LoMap.C.

bool m_draw_pose

Generally, when we draw the map, we also draw the robot's current pose w.r.t. the map. However, in some cases, we may wish to skip drawing the pose. This setting can be used to do that. By default, it is true, i.e., the robot pose is drawn.

Definition at line 105 of file LoMap.C.

float m_grid_color

If the grid is drawn, it will rendered in a light gray color so as to not interfere visually with the other things on the map. This setting specifies the gray level to use when rendering the map. This setting's value is expected to be a unitless number in the range zero to one. Lower values will result in a darker grid, higher numbers in a lighter grid.

Definition at line 129 of file LoMap.C.

float m_grid_spacing

To allow users to better make out the map's dimensions and relative distances between objects, we can draw a grid. This setting can be used to specify the size of the grid's cells, which are all square.

The value of this setting should be a floating point number. Its units are millimeters. If the grid spacing is a negative number, the grid will not be drawn. By default, the grid spacing is set to -1 and the grid is not drawn.

Definition at line 121 of file LoMap.C.