root / scout / libscout / src / behaviors / navigationMap.h @ 6fab3966
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file navigationMap.h
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* @brief Contains navigation map Behavior declarations and definitions
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*
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* Contains functions and definitions for the use of
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* navigation map Behavior
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priya Deo
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* @author Lalitha
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* @author James
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* @author Leon
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**/
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#ifndef _NAVIGATION_MAP_
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#define _NAVIGATION_MAP_
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#include <cstdlib> |
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#include <queue> |
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#include "../Behavior.h" |
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//#include "lineDrive.h" // Get turn Macros
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/** Turn defintions */
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#define ISTRAIGHT 0 |
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#define ILEFT 1 |
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#define IRIGHT 2 |
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#define IUTURN 3 |
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#define ISPOTTURN 4 |
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#define START_STATE 3 |
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#define DEADEND 255 |
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#define ARRAY_SIZE 3 |
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#define MAX_NODES 16 |
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#define SPEED 10 //distance_unit per s |
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#define DROPOFF_TIME 10 //seconds |
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#define TURN_TIME 3 //Seconds |
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#define NUM_ROBOTS 2 |
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#define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds |
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/** used to extract information from an encoded Edge */
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#define GET_EDGE_DIR(edge) ((edge)&0xF) |
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#define GET_EDGE_STATE(edge) (((edge)>>4)&0xFF) |
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#define GET_EDGE_DIST(edge) (((edge)>>12)&0xFFFFF) |
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/** used to change or build an Edge's information */
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#define SET_EDGE_DIR(dir) ((dir)&0xF) |
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#define SET_EDGE_STATE(state) (((state)&0xFF)<<4) |
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#define SET_EDGE_DIST(dist) (((dist)&0xFFFFF)<<12) |
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#define MAKE_EDGE(dir, state, dist) \
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SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist) |
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/** an integer with a direction, an associated state, and distance
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* encoded into its bits*/
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typedef unsigned int Edge; |
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/** a simple number representing the number of a node*/
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typedef unsigned int State; |
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/** a number representing a type of turn, as defined above*/
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typedef unsigned int Turn; |
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/** a list of turns to follow a path */
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typedef struct{ |
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int len;
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Turn* path; |
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} Path; |
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class navigationMap : Behavior |
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{ |
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/** ASCII Representation of the map
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*
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* 1 2 3 4
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* ----|-----------|----------|---------|---------->
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* <---|--5--------|--6-------|--7------|--8-------
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* | | | |
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* 9| 10| 11| 12|
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* | | | |
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* ---13 ---14 ---15 ---16
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*/
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public:
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/** Initializes the navigation map */
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navigationMap(std::string scoutname, Sensors* sensors); |
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/** Goes through and frees all allocated memory */
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~navigationMap(); |
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/** FSM implementation */
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void run();
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/** sets the current state to the state associated with the turn made */
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State update_state(Turn turn_made); |
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/** returns the predicted time of arrival for our current task */
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Time get_eta(); |
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/** returns the predicted amount of time it will take to finish our task */
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Duration get_time_remaining(); |
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/** returns the Edges connecting from a given State */
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Edge* get_outbound_edges(State state); |
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/** returns the current state of the scout in the map*/
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State get_state(); |
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/** uses BFS to find the shortest path to a target State node */
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Path shortest_path(State start_state, State target_state); |
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Path shortest_path(State target_state); |
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/** returns the predicted worst case time it will take to travel from src to dest nodes */
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Duration get_worst_case_time(State start_state, State target_state); |
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private:
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/** the dynamic array of edge arrays representing individual State nodes */
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std::vector <Edge*> map; |
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/** the current State node */
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State curr_state; |
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/** the predicted time of arrival for our current task */
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Time arrival_time; |
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}; |
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#endif
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