00001 /** 00002 \file Robots/LoBot/slam/LoCoords.H 00003 \brief API for coordinate SLAM related system transformations. 00004 00005 This file provides an API for converting real/physical coordinates to 00006 occupancy grid coordinates and vice versa. 00007 */ 00008 00009 // //////////////////////////////////////////////////////////////////// // 00010 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005 // 00011 // by the University of Southern California (USC) and the iLab at USC. // 00012 // See http://iLab.usc.edu for information about this project. // 00013 // //////////////////////////////////////////////////////////////////// // 00014 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00015 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00016 // in Visual Environments, and Applications'' by Christof Koch and // 00017 // Laurent Itti, California Institute of Technology, 2001 (patent // 00018 // pending; application number 09/912,225 filed July 23, 2001; see // 00019 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00020 // //////////////////////////////////////////////////////////////////// // 00021 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00022 // // 00023 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00024 // redistribute it and/or modify it under the terms of the GNU General // 00025 // Public License as published by the Free Software Foundation; either // 00026 // version 2 of the License, or (at your option) any later version. // 00027 // // 00028 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00029 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00030 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00031 // PURPOSE. See the GNU General Public License for more details. // 00032 // // 00033 // You should have received a copy of the GNU General Public License // 00034 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00035 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00036 // Boston, MA 02111-1307 USA. // 00037 // //////////////////////////////////////////////////////////////////// // 00038 // 00039 // Primary maintainer for this file: mviswana usc edu 00040 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/slam/LoCoords.H $ 00041 // $Id: LoCoords.H 13560 2010-06-11 12:58:57Z mviswana $ 00042 // 00043 00044 #ifndef LOBOT_SLAM_COORDINATE_SYSTEM_API_DOT_H 00045 #define LOBOT_SLAM_COORDINATE_SYSTEM_API_DOT_H 00046 00047 //------------------------------ HEADERS -------------------------------- 00048 00049 //----------------------------- NAMESPACE ------------------------------- 00050 00051 namespace lobot { 00052 namespace Coords { 00053 00054 //----------------- COORDINATE SYSTEM CONVERSION API -------------------- 00055 00056 /// This function converts real/physical coordinates to grid coordinates. 00057 void to_grid(float rx, float ry, int* gx, int* gy) ; 00058 00059 /// This function converts grid coordinates to real/physical coordinates. 00060 void to_real(int gx, int gy, float* rx, float* ry) ; 00061 00062 //----------------------------------------------------------------------- 00063 00064 } // end of Coords namespace 00065 } // end of lobot namespace 00066 00067 #endif 00068 00069 /* So things look consistent in everyone's emacs... */ 00070 /* Local Variables: */ 00071 /* indent-tabs-mode: nil */ 00072 /* End: */
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