local_dtm.H

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// Author: Firas Bouz

#include "data_queue.H"
#include "data_type.H"

#include "queue_generator.H"

namespace cajun
{
        class local_dtm_t
        {
        public:
                local_dtm_t ();
                ~local_dtm_t ();

                bool update();
                int get_local_max_x ()// the right most boundary of the local_dtm
                {
                        return local_dtm.MAX_X;
                }
                int get_local_max_y ()// the top most boundary
                {
                        return local_dtm.MAX_Y;
                }

                void get_global_position (double &x, double &y);
                double get_heading ();

                // The local_cell_t of the cell at relative x and y. (x, y) are relative coords
                local_cell_t get_local_cell (int x, int y)
                {
                        // make sure about the row major thing
                        return local_dtm.local_dtm[x][y];
                }
                // local_cell_t is defined in data_type.H, contains only
                // min_z and max_z, and whether or not it is an obstacle

                void get_global_origin (double &x, double &y);
                // the corresponding global (x, y) for a local (x`, y`)
                void get_global_xy (int local_x, int local_y,
                                         double &global_x, double &global_y)
                {
                        global_x = (local_x * local_dtm.cell_size) / 100.0 + local_dtm.min_x;
                        global_y = (local_y * local_dtm.cell_size) / 100.0 + local_dtm.min_y;
                }

                double get_global_x (int local_x);
                double get_global_y (int local_y);

                void get_local_xy ( double global_x, double global_y,
                                    int &local_x, int &local_y);

                int  get_local_x (double global_x);
                int  get_local_y (double global_y);

                int get_cell_size ();
                void print_obstacles();
                void log_obstacles(FILE * fp);

        private:

                local_cell_t local_cell; // min_z and max_z
                local_dtm_data_t local_dtm; // to read from shared_mem
                data_queue_reader_t<local_dtm_data_t> *local_dtm_dq;

                scan_gp_data_t::coord_t global_position; // vehicle gps position

                heading_data_t heading;
                data_queue_reader_t<heading_data_t>* heading_dq;

                nav_data_t nav;
                data_queue_reader_t<nav_data_t>* nav_dq;
        };
};

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