Revision 738e44fb
| ID | 738e44fba982b01d75863a98b744fa055b68de44 |
navigationMap bfs tested and worksgit status!
| scout/libscout/src/behaviors/navigationMap.cpp | ||
|---|---|---|
| 14 | 14 |
* --- --- --- --- |
| 15 | 15 |
*/ |
| 16 | 16 |
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| 17 |
Edge a1[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 2, 10),
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MAKE_EDGE(IRIGHT, 9, 40), |
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MAKE_EDGE(IUTURN, DEADEND, 0)}; |
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Edge a2[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 3, 10),
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MAKE_EDGE(IRIGHT, 10, 40), |
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MAKE_EDGE(IUTURN, 5, 10)}; |
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Edge a3[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 4, 10),
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MAKE_EDGE(IRIGHT, 11, 40), |
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MAKE_EDGE(IUTURN, 6, 10)}; |
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Edge a4[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(IRIGHT, 12, 40), |
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MAKE_EDGE(IUTURN, 7, 10)}; |
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Edge a5[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(ILEFT, 9, 40), |
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MAKE_EDGE(IUTURN, 2, 10)}; |
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Edge a6[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 5, 10),
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MAKE_EDGE(ILEFT, 10, 40), |
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MAKE_EDGE(IUTURN, 3, 10)}; |
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Edge a7[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 6, 10),
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MAKE_EDGE(ILEFT, 11, 40), |
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MAKE_EDGE(IUTURN, 4, 10)}; |
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Edge a8[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 7, 10),
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MAKE_EDGE(ILEFT, 12, 40), |
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MAKE_EDGE(IUTURN, DEADEND, 0)}; |
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Edge a9[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 2, 10),
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MAKE_EDGE(ILEFT, DEADEND, 0), |
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MAKE_EDGE(IUTURN, 9, 40)}; |
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Edge a10[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 3, 10),
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MAKE_EDGE(ILEFT, 5, 10), |
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MAKE_EDGE(IUTURN, 10, 40)}; |
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Edge a11[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 4, 10),
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MAKE_EDGE(ILEFT, 6, 10), |
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MAKE_EDGE(IUTURN, 11, 40)}; |
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Edge a12[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, DEADEND, 0),
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MAKE_EDGE(ILEFT, 7, 10), |
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MAKE_EDGE(IUTURN, 12, 40)}; |
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| 64 |
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map.pushback(a1); |
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map.pushback(a2); |
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map.pushback(a3); |
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map.pushback(a4); |
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map.pushback(a5); |
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map.pushback(a6); |
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map.pushback(a7); |
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map.pushback(a8); |
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map.pushback(a9); |
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map.pushback(a10); |
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map.pushback(a11); |
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map.pushback(a12); |
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curr_state = START_STATE; |
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Edge* a1 = new Edge[ARRAY_SIZE]; |
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a1[0] = MAKE_EDGE(ISTRAIGHT, 2, 10); |
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a1[1] = MAKE_EDGE(IRIGHT, 9, 40); |
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a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); |
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Edge* a2 = new Edge[ARRAY_SIZE]; |
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a2[0] = MAKE_EDGE(ISTRAIGHT, 3, 10); |
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a2[1] = MAKE_EDGE(IRIGHT, 10, 40); |
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a2[2] = MAKE_EDGE(IUTURN, 5, 10); |
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Edge* a3 = new Edge[ARRAY_SIZE]; |
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a3[0] = MAKE_EDGE(ISTRAIGHT, 4, 10); |
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a3[1] = MAKE_EDGE(IRIGHT, 11, 40); |
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a3[2] = MAKE_EDGE(IUTURN, 6, 10); |
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Edge* a4 = new Edge[ARRAY_SIZE]; |
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a4[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
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a4[1] = MAKE_EDGE(IRIGHT, 12, 40); |
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a4[2] = MAKE_EDGE(IUTURN, 7, 10); |
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Edge* a5 = new Edge[ARRAY_SIZE]; |
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a5[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
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a5[1] = MAKE_EDGE(ILEFT, 9, 40); |
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a5[2] = MAKE_EDGE(IUTURN, 2, 10); |
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Edge* a6 = new Edge[ARRAY_SIZE]; |
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a6[0] = MAKE_EDGE(ISTRAIGHT, 5, 0); |
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a6[1] = MAKE_EDGE(ILEFT, 10, 40); |
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a6[2] = MAKE_EDGE(IUTURN, 3, 10); |
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Edge* a7 = new Edge[ARRAY_SIZE]; |
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a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); |
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a7[1] = MAKE_EDGE(ILEFT, 11, 40); |
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a7[2] = MAKE_EDGE(IUTURN, 3, 10); |
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Edge* a8 = new Edge[ARRAY_SIZE]; |
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a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); |
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a8[1] = MAKE_EDGE(ILEFT, 12, 40); |
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a8[2] = MAKE_EDGE(IUTURN, DEADEND, 10); |
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Edge* a9 = new Edge[ARRAY_SIZE]; |
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a9[0] = MAKE_EDGE(IRIGHT, 2, 10); |
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a9[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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a9[2] = MAKE_EDGE(IUTURN, 9, 40); |
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Edge* a10 = new Edge[ARRAY_SIZE]; |
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a10[0] = MAKE_EDGE(IRIGHT, 3, 10); |
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a10[1] = MAKE_EDGE(ILEFT, 5, 10); |
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a10[2] = MAKE_EDGE(IUTURN, 10, 40); |
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Edge* a11 = new Edge[ARRAY_SIZE]; |
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a11[0] = MAKE_EDGE(IRIGHT, 4, 10); |
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a11[1] = MAKE_EDGE(ILEFT, 6, 10); |
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a11[2] = MAKE_EDGE(IUTURN, 11, 40); |
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Edge* a12 = new Edge[ARRAY_SIZE]; |
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a12[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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a12[1] = MAKE_EDGE(ILEFT, 7, 10); |
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a12[2] = MAKE_EDGE(IUTURN, 12, 40); |
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map.push_back(a1); |
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map.push_back(a2); |
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map.push_back(a3); |
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map.push_back(a4); |
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map.push_back(a5); |
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map.push_back(a6); |
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map.push_back(a7); |
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map.push_back(a8); |
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map.push_back(a9); |
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map.push_back(a10); |
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map.push_back(a11); |
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map.push_back(a12); |
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curr_state = START_STATE; |
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| 79 | 91 |
eta = 99999; |
| 80 | 92 |
} |
| 81 | 93 |
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/** @brief Goes through and frees all allocated memory */ |
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navigationMap::~navigationMap() |
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{
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while(!map.empty()) |
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{
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Edge* e = map.pop_back(); |
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delete e; |
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} |
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return; |
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while(!map.empty()) |
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{
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Edge* temp = map.back(); |
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map.pop_back(); |
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delete temp; |
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} |
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return; |
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} |
| 92 | 105 |
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navigationMap::run() |
| ... | ... | |
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navigationMap::update_state(Turn turn_made) |
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{
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Edge* possible_edges = get_outbound_edges(current_state);
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int arr_size = sizeof(possible_edges)/sizeof(Edge);
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for(i=0;i<arr_size;i++)
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{
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//sets the current state to the state associated with the turn made
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if(GET_EDGE_DIR(possible_edges[i]) == turn_made)
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{
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int speed = 10000;//its over 9000
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current_state = GET_EDGE_STATE(possible_edges[i]);
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//TODO: get actual speed
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arrival_time = ros::Time::now() +
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GET_EDGE_DIST(possible_edges[i])/speed;
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return current_state;
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}
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}
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return -1;//failure to succeed
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Edge* possible_edges = get_outbound_edges(current_state);
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int arr_size = sizeof(possible_edges)/sizeof(Edge);
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for(i=0;i<arr_size;i++)
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{
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//sets the current state to the state associated with the turn made
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if(GET_EDGE_DIR(possible_edges[i]) == turn_made)
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{
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int speed = 10000;//its over 9000
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current_state = GET_EDGE_STATE(possible_edges[i]);
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//TODO: get actual speed
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arrival_time = ros::Time::now() +
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GET_EDGE_DIST(possible_edges[i])/speed;
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return current_state;
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}
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}
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return -1;//failure to succeed
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| 116 | 129 |
} |
| 117 | 130 |
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| 118 | 131 |
navigationMap::get_eta() |
| 119 | 132 |
{
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return arrival_time;
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return arrival_time;
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| 121 | 134 |
} |
| 122 | 135 |
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| 123 | 136 |
navigationMap::get_time_remaining() |
| 124 | 137 |
{
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return (arrival_time - ros::Time::now());
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return (arrival_time - ros::Time::now());
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| 126 | 139 |
} |
| 127 | 140 |
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navigationMap::get_state() |
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{
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return curr_state;
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return curr_state;
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| 131 | 144 |
} |
| 132 | 145 |
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| 133 | 146 |
navigationMap::get_outbound_edges(State state) |
| 134 | 147 |
{
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return map(state-1);
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return map(state-1);
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| 136 | 149 |
} |
| 137 | 150 |
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navigationMap::shortest_path(State target_state) |
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Path navigationMap::shortest_path(State target_state)
|
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| 139 | 152 |
{
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// BFS algorithm |
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State curr_state = get_state(); |
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char visited[MAX_NODES+1]; |
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queue<State> q; |
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q.push(curr_state); |
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// not zero = visited, zero = unvisited, negative = start state |
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visited[curr_state] = -1; |
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while (!q.is_empty) |
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{
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State state = q.pop(); |
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if (state == target_state) |
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{
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Turn moves_list[MAX_NODES]; |
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int j = 0; // counter |
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for(State child = state; visited[child] >= 0; |
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child = visited[child]) //while not start state |
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{
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State parent = visited[child]; |
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Edge* edges = get_outbound_edges(parent); |
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for (int i = 0; i < ARRAY_SIZE; i++) |
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{
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if (GET_EDGE_STATE(edges[i]) == child) |
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{
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moves_list[j] = GET_EDGE_DIR(edges[i]); |
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j++; |
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break; |
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} |
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} |
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} |
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return moves_list; |
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} |
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Edge* edges = get_outbound_edges(state); |
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int length = sizeof(edges) / sizeof(Edge); |
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for (int i = 0; i < length; i++) |
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// BFS algorithm |
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State curr_state = get_state(); |
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int visited[MAX_NODES+1] = {0};
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queue<State> q; |
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q.push(curr_state); |
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// not zero = visited, zero = unvisited, negative = start state |
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visited[curr_state] = -1; |
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|
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while (!q.empty()) |
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{
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State state = q.front(); |
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//actually dequeue it |
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q.pop(); |
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if (state == target_state) |
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{
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Path path; |
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int j = 0; // counter |
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for(State child = state; visited[child] >= 0; |
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child = visited[child]) //while not start state |
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{
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State parent = visited[child]; |
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Edge* edges = get_outbound_edges(parent); |
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for (int i = 0; i < ARRAY_SIZE; i++) |
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| 175 | 177 |
{
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State new_state = GET_EDGE_STATE(edges[i]); |
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if (!visited[new_state]) |
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{
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// set visited to the parent of the new state |
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visited[new_state] = state; |
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q.push(new_state); |
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} |
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if (GET_EDGE_STATE(edges[i]) == child) |
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{
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path.path[j] = GET_EDGE_DIR(edges[i]); |
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j++; |
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break; |
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} |
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| 183 | 184 |
} |
| 185 |
} |
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/** Reverse moves list */ |
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for (int i = 0; i < j/2; i++) |
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{
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path.path[i] ^= path.path[j-i-1]; |
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path.path[j-i-1] ^= path.path[i]; |
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path.path[i] ^= path.path[j-i-1]; |
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} |
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path.len = j; |
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return path; |
|
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} |
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Edge* edges = get_outbound_edges(state); |
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| 197 |
for (int i = 0; i < ARRAY_SIZE; i++) |
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{
|
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State new_state = GET_EDGE_STATE(edges[i]); |
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if (new_state != DEADEND && !visited[new_state]) |
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{
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| 202 |
// set visited to the parent of the new state |
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visited[new_state] = state; |
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| 204 |
q.push(new_state); |
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} |
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| 184 | 206 |
} |
| 185 |
//oops, no way to get to target from state |
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| 186 |
return NULL; |
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} |
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| 208 |
//oops, no way to get to target from state |
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Path path; |
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| 210 |
path.len = 0; |
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path.path = NULL; |
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return path; |
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| 187 | 213 |
} |
| 214 |
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