// Description for a single map cell.
typedef struct
{
// Occupancy state (-1 = free, 0 = unknown, +1 = occ)
int occ_state;
// Distance to the nearest occupied cell
double occ_dist;
// Wifi levels
//int wifi_levels[MAP_WIFI_MAX_LEVELS];
} map_cell_t;
// Description for a map
typedef struct
{
// Map origin; the map is a viewport onto a conceptual larger map.
double origin_x, origin_y;
// Map scale (m/cell)
double scale;
// Map dimensions (number of cells)
int size_x, size_y;
// The map data, stored as a grid
map_cell_t *cells;
// Max distance at which we care about obstacles, for constructing
// likelihood field
double max_occ_dist;
} map_t;