1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
|
description {
* @brief Access maps
The @p map interface provides access to maps. Depending on the underlying
driver, the map may be provided as an occupancy grid, or as a set of
segments (or both). In either case, the map is retrieved by request only.
Segment (aka vector) maps are delivered in one message, whereas grid
maps are delivered in tiles, via a sequence of requests.
}
/** Data subtype: grid map metadata */
#define PLAYER_MAP_DATA_INFO 1
message { DATA, INFO, 1, player_map_info_t };
/** Request/reply subtype: get grid map metadata */
message { REQ, GET_INFO, 1, player_map_info_t };
/** Request/reply subtype: get grid map tile */
message { REQ, GET_DATA, 2, player_map_data_t };
/** Request/reply subtype: get vector map */
message { REQ, GET_VECTOR, 3, player_map_data_vector_t };
/** @brief Data AND Request/reply: Map information.
To retrieve the size and scale information of a map, send a null
@ref PLAYER_MAP_REQ_GET_INFO request. This message can also be sent as data,
with the subtype @ref PLAYER_MAP_DATA_INFO, depending on the underlying
driver. */
typedef struct player_map_info
{
/** The scale of the map [m/pixel]. */
float scale;
/** The size of the map [pixels]. */
uint32_t width;
/** The size of the map [pixels]. */
uint32_t height;
/** The origin of the map [m, m, rad]. That is, the real-world pose of
* cell (0,0) in the map */
player_pose2d_t origin;
} player_map_info_t;
/** @brief Request/reply: get grid map tile
To request a grid map tile, send a @ref PLAYER_MAP_REQ_GET_DATA request with
the tile origin and size you want. Set data_count to 0 and leave the
data field empty. The response will contain origin, size, and occupancy
data for a tile. Note that the response tile may not be exactly the
same as the tile you requested (e.g., your requested tile is too large
or runs off the map). */
typedef struct player_map_data
{
/** The tile origin [pixels]. */
uint32_t col;
/** The tile origin [pixels]. */
uint32_t row;
/** The size of the tile [pixels]. */
uint32_t width;
/** The size of the tile [pixels]. */
uint32_t height;
/** The number of cells */
uint32_t data_count;
/** Cell occupancy value (empty = -1, unknown = 0, occupied = +1). */
int8_t *data;
} player_map_data_t;
/** @brief Request/reply: get vector map
A vector map is represented as line segments. To retrieve the vector map,
send a null @ref PLAYER_MAP_REQ_GET_VECTOR request. */
typedef struct player_map_data_vector
{
/** The minimum and maximum coordinates of all the line segments [meters] */
float minx;
/** The minimum and maximum coordinates of all the line segments [meters] */
float maxx;
/** The minimum and maximum coordinates of all the line segments [meters] */
float miny;
/** The minimum and maximum coordinates of all the line segments [meters] */
float maxy;
/** The number of line segments */
uint32_t segments_count;
/** Line segments */
player_segment_t *segments;
} player_map_data_vector_t;
|
