2D激光SLAM：：ROS-AMCL包源碼閱讀（二）關於map地圖的數據結構

ROS-AMCL包源碼閱讀（二）關於map地圖的數據結構

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map.h的內容描述如下

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 map_t：地圖結構體

// Description for a map
typedef struct
{
  // Map origin; the map is a viewport onto a conceptual larger map.
  //地圖的原點，這個原點指中心點，即地圖座標(width/2,height/2)對應的世界座標
  double origin_x, origin_y;
  
  // Map scale (m/cell)
  //尺度
  double scale;

  // Map dimensions (number of cells)
  //尺寸
  int size_x, size_y;
  
  // The map data, stored as a grid
  //地圖的柵格描述結構體
  map_cell_t *cells;

  // Max distance at which we care about obstacles, for constructing
  // likelihood field
  //傳感器可以感知的最遠距離？
  double max_occ_dist;
  
} map_t;

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 map_cell_t：描述地圖柵格的結構體

// Description for a single map cell.
typedef struct
{
  // Occupancy state (-1 = free, 0 = unknown, +1 = occ)
  //柵格佔據狀態
  int occ_state;

  // Distance to the nearest occupied cell
  //該柵格距離最近一個“障礙物”(或者說距離最近的處於"佔用”狀態的柵格)的距離
  double occ_dist;

  // Wifi levels
  //int wifi_levels[MAP_WIFI_MAX_LEVELS];

} map_cell_t;