# Table of contents

## Functions, Macros

- Display_MAP Displays the map in ascii format (Used for simulator only)
- LCD_MAP Draws the occupational grid onto the LCD display
- MAP_Angle Finds the difference between two radiants
- MAP_Check Checks adjacent cells for a match in (value_)
- MAP_Dist Obtains the distance to the nearest obstacle using the right PSD sensor
- MAP_Locate Locates the nearest unexplored obstacle to the robot
- MAP_Location Obtains the location of a cell in the grid in terms of its robot position
- MAP_Navigation Performs a robot navigation routine to reach a destination
- MAP_Orient Obtains the orientation required for the robot to face the target position
- MAP_Pos Obtains the array index for a particular grid cell
- MAP_Position VWGetPosition equivalent
- MAP_Segment Obtains the equivalent map position for the robot position
- MAP_Target Locates an unexplored cell and returns the index as the target
- UpLoad_Grid Loads the occupational grids system through the SERIAL2 link
- UpLoad_VG Loads the map through the SERIAL2 link
- VEHStop Stops the robot
- Wall_Follow_Right A boundary-following algorithm that tracks the right side of the robot

hierarchy of classes

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(c)opyright by Malte Zöckler, Roland Wunderling
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