本文整理汇总了C++中ConfigurationManager::getMapPath方法的典型用法代码示例。如果您正苦于以下问题：C++ ConfigurationManager::getMapPath方法的具体用法？C++ ConfigurationManager::getMapPath怎么用？C++ ConfigurationManager::getMapPath使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ConfigurationManager的用法示例。
在下文中一共展示了ConfigurationManager::getMapPath方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: CreateMap
Map CreateMap(ConfigurationManager config)
{
std::vector<unsigned char> image;
unsigned width, height;
unsigned int x, y;
const char* path = config.getMapPath();
unsigned error = lodepng::decode(image, width, height, path);
if (error)
{
std::cout << "decoder error " << error << ": "
<< lodepng_error_text(error) << std::endl;
}
// Get parameters
double gridResoultion = config.getGridResolutionCM();
double mapResoultion = config.getMapResolutionCM();
int divider = ceil(gridResoultion/mapResoultion); // Numbers of pixels for 1 cell in matrix
// Create map as png pixels
char** map = initializeMatrix(height + (divider - 1) * 2,width + (divider - 1) * 2, FREE_CELL);
unsigned char color;
for (y = 0; y < height; y++)
{
for (x = 0; x < width; x++)
{
if (image[y * width * 4 + x * 4 + 0]
|| image[y * width * 4 + x * 4 + 1]
|| image[y * width * 4 + x * 4 + 2])
{
// There is an obstacle in the map
color = FREE_CELL;
}
else
{
// There is no obstacle
color = BLOCK_CELL;
}
map[y + divider - 1][x + divider - 1] = color;
}
}
// Create map as config cm size
int newMapHieght = height/divider;
int newMapWidth = width/divider;
char** mapBlow = initializeMatrix(newMapHieght, newMapWidth, FREE_CELL);
unsigned i,j;
int mapBlowY = 0, mapBlowX = 0;
bool hasObstacle = false;
for (y = divider - 1; y < height; y += divider)
{
for (x = divider - 1; x < width; x += divider)
{
for (i = 0; i < divider && !hasObstacle; i++)
{
for (j = 0; j < divider && !hasObstacle; j++)
{
if (map[y + i][x + j] == BLOCK_CELL)
{
hasObstacle = true;
}
}
}
if (hasObstacle)
{
mapBlow[mapBlowY][mapBlowX] = BLOCK_CELL;
}
hasObstacle = false;
mapBlowX++;
}
mapBlowX = 0;
mapBlowY++;
}
// ReSize obstacle
double* robotSize = config.getRobotSize();
int sizeH = ceil(((robotSize[0] / gridResoultion)- 1) / 2);
int sizeW = ceil(((robotSize[1] / gridResoultion)- 1) / 2);
char** newMap = initializeMatrix(newMapHieght + sizeH*2, newMapWidth + sizeW*2, FREE_CELL);
for (int i = 0; i < newMapHieght; i++)
{
for (int j = 0; j < newMapWidth; j++)
{
if (mapBlow[i][j] == BLOCK_CELL)
{
for (int iNewMap = i; iNewMap <= i + sizeH + 1; iNewMap++)
{
for (int jNewMap = j; jNewMap <= j + sizeW + 1; jNewMap++)
{
newMap[iNewMap][jNewMap] = BLOCK_CELL;
}
}
}
//.........这里部分代码省略.........