generate_world_map.h

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/*
 * This file is part of the CoverageControl library
 *
 * Author: Saurav Agarwal
 * Contact: sauravag@seas.upenn.edu, agr.saurav1@gmail.com
 * Repository: https://github.com/KumarRobotics/CoverageControl
 *
 * Copyright (c) 2024, Saurav Agarwal
 *
 * The CoverageControl library is free software: you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or (at your
 * option) any later version.
 *
 * The CoverageControl library is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_GENERATE_WORLD_MAP_H_
#define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_GENERATE_WORLD_MAP_H_
 
#include <limits>
#include <vector>
 
namespace CoverageControl {
float const kFloatMax =
    std::numeric_limits<float>::max();  
float const kFloatMin =
    std::numeric_limits<float>::min();  
 
struct BND_Cuda {
  float mean_x, mean_y;
  float sigma_x, sigma_y;
  float scale, rho;
};
 
struct Bounds {
  float xmin = kFloatMax;
  float xmax = kFloatMin;
  float ymin = kFloatMax;
  float ymax = kFloatMin;
};
 
struct Polygons_Cuda_Host {
  std::vector<float> x;
  std::vector<float> y;
  std::vector<float> imp;
  std::vector<int> sz;
  std::vector<Bounds> bounds;
  int num_pts = 0;
  int num_polygons = 0;
};
 
struct Polygons_Cuda {
  float *x = nullptr;
  float *y = nullptr;
  float *imp = nullptr;
  int *sz = nullptr;
  Bounds *bounds = nullptr;
  int num_pts = 0;
  int num_polygons = 0;
};
 
void generate_world_map_cuda(BND_Cuda *, Polygons_Cuda_Host const &, int const,
                             int const, float const, float const, float const,
                             float *importance_vec, float &);
} /* namespace CoverageControl */
 
#endif  // CPPSRC_CORE_INCLUDE_COVERAGECONTROL_GENERATE_WORLD_MAP_H_