OccupancyGrid.h

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#ifndef DW_MAPPING_OCCUPANCY_GRID_H__
#define DW_MAPPING_OCCUPANCY_GRID_H__

#include <dw/core/Config.h>
#include <dw/core/Context.h>
#include <dw/core/Exports.h>
#include <dw/core/Status.h>
#include <dw/core/Types.h>

#include <dw/gl/GL.h>

#include <dw/image/Image.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwOccupancyGridObject *dwOccupancyGridHandle_t;

const uint8_t DW_OCCUPANCY_GRID_MAX_LAYER_COUNT = 16;

typedef struct dwOccupancyGridLayerParameters {
    dwTransformation sensorToRigTransformation;
    float32_t minValidDistanceMeters;
    float32_t maxValidDistanceMeters;
    float32_t probabilityFreeAtHit;
    float32_t minAccumulatedProbability;
    float32_t maxAccumulatedProbability;
    dwBool isCumulative;
    float32_t hitWidth;
    dwBool isRaycast;
    float32_t probabilityRayFreeAtOrigin;
    float32_t probabilityRayFreeAtMaxDistance;
    float32_t probabilityRayFreeBeyondHit;
    float32_t rayWidth;
} dwOccupancyGridLayerParameters;

typedef struct dwOccupancyGridParameters {
    dwVector3f gridDimensionsMeters;
    dwVector3f gridMinMeters;
    float32_t cellSizeMeters;
    dwVector4f renderColor;
    dwBool isScrollingMap;

} dwOccupancyGridParameters;

typedef struct {
    uint16_t id;
    uint32_t pointCount;
    dwVector2f *points;
    dwVector2f velocity;
    dwVector2f acceleration;
} dwObstacle;

DW_API_PUBLIC
dwStatus dwOccupancyGrid_initialize(dwOccupancyGridHandle_t *grid,
                                    const dwOccupancyGridParameters *params,
                                    dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_setLayerProperties(uint8_t layer,
                                            const dwOccupancyGridLayerParameters *input,
                                            dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_getLayerProperties(dwOccupancyGridLayerParameters *output,
                                            uint8_t layer,
                                            dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_getLayerProperties(dwOccupancyGridLayerParameters *output,
                                            uint8_t layer,
                                            dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_update(const dwTransformation *matrix, uint8_t layer,
                                dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_insertPointList(const dwVector4f *inputList,
                                           uint32_t count,
                                           uint8_t layer,
                                           dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_insertObstacleList(const dwObstacle *inputList,
                                              uint32_t count,
                                              uint8_t layer,
                                              dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_reset(dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_getGridImage(dwImageGL *output, dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_getGridLayerImage(dwImageGL *output,
                                             uint8_t layer,
                                             dwOccupancyGridHandle_t grid);

DW_API_PUBLIC
dwStatus dwOccupancyGrid_release(dwOccupancyGridHandle_t *grid);

#ifdef __cplusplus
}
#endif

#endif // DW_MAPPING_OCCUPANCY_GRID_H__