scoutos / scout / libscout / src / behaviors / maze_solve.h @ 6ee555a3
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1 | 64ee446f | Yuyang | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | #ifndef _MAZE_SOLVE_H_
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27 | #define _MAZE_SOLVE_H_
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28 | |||
29 | 754da79f | Priya | #include "line_follow.h" |
30 | 64ee446f | Yuyang | |
31 | class maze_solve: public line_follow |
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32 | { |
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33 | public:
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34 | maze_solve(std::string scoutname, Sensors* sensors): |
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35 | line_follow(scoutname, "maze_solve", sensors) {};
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36 | void run();
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37 | f878b5f9 | Priya | private:
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38 | bool solve(int row, int col, int dir); |
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39 | void turn_from_to(int current_dir, int intended_dir); |
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40 | 2b0c2534 | Priya | bool look_around(int row, int col, int dir); |
41 | f878b5f9 | Priya | bool at_destination();
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42 | 754da79f | Priya | |
43 | int map[60][60]; |
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44 | }; |
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45 | 64ee446f | Yuyang | #endif
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