Пример #1
0
int Exploration::getCellData(POINT &p, const MAP &map) {

	if (!isAllocated(p, map))
		return EXPLORATION_UNKNOWN;

	double data = map.storage().cell(p);

	if (data == EXPLORATION_UNKNOWN)
		return EXPLORATION_UNKNOWN;

	return (data > CELL_THRESHOLD ? EXPLORATION_OCCUPIED : EXPLORATION_OPEN_SPACE);
}
Пример #2
0
bool Exploration::isAllocated(POINT &p, const MAP &map) {
//	return true; //MATAN
	return (map.storage().cellState(p) == (Inside | Allocated) );
}
Пример #3
0
bool Exploration::isInside(POINT &p, const MAP &map) {
//	return map.isInside(p.x, p.y); //MATAN
	return (map.storage().cellState(p) == Inside );
}