root / scout / libscout / src / behaviors / navigationMap.cpp @ 31be19a6
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#include "navigationMap.h" |
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/** @brief Initializes the map */
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navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname, "navigationMap") |
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{ |
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/** Initialize 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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* --- --- --- ---
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*/
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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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eta = 99999;
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} |
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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* 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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} |
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navigationMap::run() |
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{ |
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} |
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navigationMap::update_state(Turn turn_made) |
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{ |
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Edge* possible_edges = get_outbound_edges(curr_state); |
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int arr_size = sizeof(possible_edges)/sizeof(Edge); |
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for(int 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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curr_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 curr_state;
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} |
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} |
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return -1;//failure to succeed |
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} |
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navigationMap::get_eta() |
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{ |
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return arrival_time;
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} |
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navigationMap::get_time_remaining() |
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{ |
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return (arrival_time - ros::Time::now());
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} |
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navigationMap::get_state() |
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{ |
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return curr_state;
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} |
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navigationMap::get_outbound_edges(State state) |
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{ |
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return map(state-1); |
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} |
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Path navigationMap::shortest_path(State target_state) |
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{ |
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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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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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{ |
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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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} |
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} |
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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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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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// 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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} |
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} |
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//oops, no way to get to target from state
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Path path; |
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path.len = 0;
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path.path = NULL;
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return path;
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} |
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