Obstacle-Map

2D Obstacle Mapper library for embedded applications.

About

This library is

How to use

• In this sketch, data is read from ultrasonic sensor into a Map2D object

• Create Map2D object

    //Map2D object
    OBSTACLE_MAP *newObj = new OBSTACLE_MAP;
  

• Sensor Data

    //Variable holding value
    double new_reading = ULTRASONIC_NEW();
  
    //Variable holding measurement angle
    double angle = GET_ANGLE();
  

• Initialise Map2D - This method returns a unique ID corresponding to the map

    //Put INIT method in object 
    uint8_t init = newObj -> MAP2D(INIT);
  

• Call Map function - This method takes in the value and bearing/degree

    //Call Map function
    newObj -> ADD_TO_MAP_2D(init,angle,new_reading);
  

Future Release:

• 3D mapping support by augmenting DOF readings with distance/bearing values

• Less memory footprint with greater microcontroller support