linemapping.h

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// @{

#ifndef CARMEN_LINEMAPPING_H
#define CARMEN_LINEMAPPING_H

#ifdef __cplusplus
extern "C" {
#endif

#include <carmen/carmen.h>

#define CARMEN_LINEMAPPING_ROBOT_FRAME  1
#define CARMEN_LINEMAPPING_GLOBAL_FRAME 0

typedef struct{
  carmen_point_t p1, p2;
  int weight;
} carmen_linemapping_segment_t;


typedef struct{
  int num_segs;
  carmen_linemapping_segment_t *segs;
} carmen_linemapping_segment_set_t;


typedef struct{
  double laser_max_length;
  double laser_opening_angle;
  double laser_start_angle;
  double sam_tolerance;
  double sam_max_gap;
  double sam_min_length;
  int    sam_min_num;
  int    sam_use_fit_split; 
  double merge_max_dist;
  double merge_min_relative_overlap;
  double merge_overlap_min_length;
  double merge_uniformly_distribute_dist;
} carmen_linemapping_parameters_t;


void carmen_linemapping_init(int argc, char** argv);


carmen_linemapping_segment_set_t  
carmen_linemapping_get_segments_from_scan(const carmen_robot_laser_message *scan, 
                                          int local);

carmen_linemapping_segment_set_t 
carmen_linemapping_get_segments_from_beams(const carmen_robot_laser_message *scan, 
                                           int local, 
                                           int from, int to);

carmen_linemapping_segment_set_t  
carmen_linemapping_get_segments_from_scans(const carmen_robot_laser_message *multiple_scans, 
                                           int num_scans);

void                            
carmen_linemapping_update_linemap(carmen_linemapping_segment_set_t *linemap, 
                                  const carmen_robot_laser_message *laser);

void 
carmen_linemapping_free_segments(carmen_linemapping_segment_set_t* s);


/* some utility functions for linesegments */

double 
carmen_linemapping_angle_difference(const carmen_linemapping_segment_t *s1, 
                                    const carmen_linemapping_segment_t *s2);

double          
carmen_linemapping_distance_point_point(const carmen_point_t *p1, 
                                        const carmen_point_t *p2);

double          
carmen_linemapping_segment_length(const carmen_linemapping_segment_t *s);


double 
carmen_linemapping_distance_point_linesegment(const carmen_linemapping_segment_t *l, 
                                              const carmen_point_t *p);

double 
carmen_linemapping_distance_linesegment_linesegment(const carmen_linemapping_segment_t *l1,
                                                    const carmen_linemapping_segment_t *l2);



#ifdef __cplusplus
}
#endif


#endif 


// @}

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