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Revision 58c19c15

ID58c19c15b13ea81473e724302b2c64e055aaac82
Parent afa9104d
Child da08d580, 11aa087a

Added by Priya almost 12 years ago

better warehouse image (corresponds with lines now) and demo. Now only thing left is to implement home behavior.

View differences:

scout/libscout/src/behaviors/navigationMap.h
47 47 

  		




  48
  48
  
    
/** Turn defintions */


  		




  49
  49
  
    
#define ISTRAIGHT	0


  		




  50
  
  
    
#define ILEFT		1


  		




  
  50
  
    
#define ILEFT		  1


  		




  51
  51
  
    
#define IRIGHT		2


  		




  52
  52
  
    
#define IUTURN		3


  		




  
  53
  
    
#define ISPOTTURN 4


  		




  53
  54
  
    

  		




  54
  55
  
    
#define START_STATE 3


  		




  55
  56
  
    

  		




  56
  57
  
    
#define DEADEND 255


  		




  57
  58
  
    
#define ARRAY_SIZE 3


  		




  58
  
  
    
#define MAX_NODES 12


  		




  
  59
  
    
#define MAX_NODES 16


  		




  59
  60
  
    

  		




  60
  61
  
    
#define SPEED 10 //distance_unit per s


  		




  61
  62
  
    
#define DROPOFF_TIME 10 //seconds


  		




  ......




  64
  65
  
    
#define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds


  		




  65
  66
  
    
 


  		




  66
  67
  
    
/** used to extract information from an encoded Edge */


  		




  67
  
  
    
#define GET_EDGE_DIR(edge) ((edge)&0x3)


  		




  68
  
  
    
#define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF)


  		




  69
  
  
    
#define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF)


  		




  
  68
  
    
#define GET_EDGE_DIR(edge) ((edge)&0xF)


  		




  
  69
  
    
#define GET_EDGE_STATE(edge) (((edge)>>4)&0xFF)


  		




  
  70
  
    
#define GET_EDGE_DIST(edge) (((edge)>>12)&0xFFFFF)


  		




  70
  71
  
    

  		




  71
  72
  
    
/** used to change or build an Edge's information */


  		




  72
  
  
    
#define SET_EDGE_DIR(dir) ((dir)&0x3)


  		




  73
  
  
    
#define SET_EDGE_STATE(state) (((state)&0xFF)<<2)


  		




  74
  
  
    
#define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10)


  		




  
  73
  
    
#define SET_EDGE_DIR(dir) ((dir)&0xF)


  		




  
  74
  
    
#define SET_EDGE_STATE(state) (((state)&0xFF)<<4)


  		




  
  75
  
    
#define SET_EDGE_DIST(dist) (((dist)&0xFFFFF)<<12)


  		




  75
  76
  
    

  		




  76
  77
  
    
#define MAKE_EDGE(dir, state, dist) \


  		




  77
  78
  
    
  SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist)


  		




  ......




  102
  103
  
    
   *      |           |          |         |


  		




  103
  104
  
    
   *     9|         10|        11|       12|


  		




  104
  105
  
    
   *      |           |          |         |


  		




  105
  
  
    
   *     ---         ---        ---       ---


  		




  
  106
  
    
   *     ---13       ---14      ---15     ---16


  		




  106
  107
  
    
   */


  		




  107
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  108
  109
  
    
  public:


  		












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