/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
 *                      gerkey@usc.edu    kaspers@robotics.usc.edu
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This 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
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/**************************************************************************
 * Desc: Range routines
 * Author: Andrew Howard
 * Date: 18 Jan 2003
 * CVS: $Id: map_range.c 1347 2003-05-05 06:24:33Z inspectorg $
**************************************************************************/

#include <assert.h>
#include <math.h>
#include <string.h>
#include <stdlib.h>

#include "nav2_amcl/map/map.hpp"

// Extract a single range reading from the map.  Unknown cells and/or
// out-of-bound cells are treated as occupied, which makes it easy to
// use Stage bitmap files.
double map_calc_range(map_t * map, double ox, double oy, double oa, double max_range)
{
  // Bresenham raytracing
  int x0, x1, y0, y1;
  int x, y;
  int xstep, ystep;
  char steep;
  int tmp;
  int deltax, deltay, error, deltaerr;

  x0 = MAP_GXWX(map, ox);
  y0 = MAP_GYWY(map, oy);

  x1 = MAP_GXWX(map, ox + max_range * cos(oa));
  y1 = MAP_GYWY(map, oy + max_range * sin(oa));

  if (abs(y1 - y0) > abs(x1 - x0)) {
    steep = 1;
  } else {
    steep = 0;
  }

  if (steep) {
    tmp = x0;
    x0 = y0;
    y0 = tmp;

    tmp = x1;
    x1 = y1;
    y1 = tmp;
  }

  deltax = abs(x1 - x0);
  deltay = abs(y1 - y0);
  error = 0;
  deltaerr = deltay;

  x = x0;
  y = y0;

  if (x0 < x1) {
    xstep = 1;
  } else {
    xstep = -1;
  }
  if (y0 < y1) {
    ystep = 1;
  } else {
    ystep = -1;
  }

  if (steep) {
    if (!MAP_VALID(map, y, x) || map->cells[MAP_INDEX(map, y, x)].occ_state > -1) {
      return sqrt((x - x0) * (x - x0) + (y - y0) * (y - y0)) * map->scale;
    }
  } else {
    if (!MAP_VALID(map, x, y) || map->cells[MAP_INDEX(map, x, y)].occ_state > -1) {
      return sqrt((x - x0) * (x - x0) + (y - y0) * (y - y0)) * map->scale;
    }
  }

  while (x != (x1 + xstep * 1)) {
    x += xstep;
    error += deltaerr;
    if (2 * error >= deltax) {
      y += ystep;
      error -= deltax;
    }

    if (steep) {
      if (!MAP_VALID(map, y, x) || map->cells[MAP_INDEX(map, y, x)].occ_state > -1) {
        return sqrt((x - x0) * (x - x0) + (y - y0) * (y - y0)) * map->scale;
      }
    } else {
      if (!MAP_VALID(map, x, y) || map->cells[MAP_INDEX(map, x, y)].occ_state > -1) {
        return sqrt((x - x0) * (x - x0) + (y - y0) * (y - y0)) * map->scale;
      }
    }
  }
  return max_range;
}