Diff: Map.cpp

Revision:

35:68f9edbb3cff

Parent:

34:c208497dd079

Child:

39:890439b495e3

--- a/Map.cpp	Fri Jun 09 14:30:21 2017 +0000
+++ b/Map.cpp	Sun Jun 11 22:40:37 2017 +0000
@@ -38,24 +38,10 @@
     return 1-1/(1+exp(lt));
 }
 
-
-//returns the log value that the cell is occupied from the probability value [0,1]
-float Map::proba_to_log(float p){
-    return log(p/(1-p));
-}
-
 void Map::update_cell_value(int widthIndice,int heightIndice ,float proba){
     this->cellsLogValues[widthIndice][heightIndice]=this->cellsLogValues[widthIndice][heightIndice]+this->proba_to_log(proba)+this->initialLogValues[widthIndice][heightIndice];//map is filled as map[0][0] get the data for the point closest to the origin
 }
 
-float Map::robot_x_coordinate_in_world(float robot_x, float robot_y){
-    return this->nbCellWidth*this->sizeCellWidth-robot_y;
-}
-
-float Map::robot_y_coordinate_in_world(float robot_x, float robot_y){
-    return robot_x;
-}
-
 float Map::cell_width_coordinate_to_world(int i){
 	return this->sizeCellWidth/2+i*this->sizeCellWidth;
 }
@@ -68,8 +54,22 @@
 	return  this->log_to_proba(this->cellsLogValues[widthIndice][heightIndice]);
 }
 
+//returns the log value that the cell is occupied from the probability value [0,1]
+float Map::proba_to_log(float p){
+    return log(p/(1-p));
+}
+
 /*
 
+float Map::robot_x_coordinate_in_world(float robot_x, float robot_y){
+    return this->nbCellWidth*this->sizeCellWidth-robot_y;
+}
+
+float Map::robot_y_coordinate_in_world(float robot_x, float robot_y){
+    return robot_x;
+}
+
+
 void MiniExplorerCoimbra::print_final_map() {
     float currProba;
     pc.printf("\n\r");