root / scout / libscout / src / behaviors / navigationMap.cpp @ 4b02e3c0
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1 | 2d697b1f | Leon | /**
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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 | /**
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27 | * @file navigationMap.cpp
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28 | * @brief Contains navigation map Behavior declarations and definitions
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29 | *
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30 | * Contains functions and definitions for the use of
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31 | * navigation map Behavior
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priya Deo
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35 | * @author Lalitha
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36 | * @author James
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37 | * @author Leon
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38 | **/
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39 | |||
40 | d8caf546 | Priya | #include "navigationMap.h" |
41 | |||
42 | cccc25c9 | Priya | using namespace std; |
43 | |||
44 | 2d697b1f | Leon | /**
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45 | * @brief Initializes the navigation map
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46 | *
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47 | * Initialize the navigation map.
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48 | * The map itself is represented as a dynamic array of edge arrays
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49 | * @param the string name of the scout
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50 | */
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51 | cccc25c9 | Priya | navigationMap::navigationMap(string scoutname) : Behavior(scoutname, "navigationMap") |
52 | d8caf546 | Priya | { |
53 | /** Initialize Map
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54 | 11aa087a | Priya | * _____
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55 | * 1 2 | | 3 4
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56 | * ----|-----------|--|----|--|---------|---------->
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57 | d8caf546 | Priya | * <---|--5--------|--6-------|--7------|--8-------
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58 | * | | | |
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59 | * 9| 10| 11| 12|
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60 | * | | | |
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61 | 11aa087a | Priya | * ---13 ---14 ---15 ---16
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62 | d8caf546 | Priya | */
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63 | |||
64 | 738e44fb | Priya | Edge* a1 = new Edge[ARRAY_SIZE];
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65 | a1[0] = MAKE_EDGE(ISTRAIGHT, 2, 10); |
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66 | 58c19c15 | Priya | a1[1] = MAKE_EDGE(IRIGHT, 13, 40); |
67 | 738e44fb | Priya | a1[2] = MAKE_EDGE(IUTURN, DEADEND, 0); |
68 | |||
69 | Edge* a2 = new Edge[ARRAY_SIZE];
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70 | a2[0] = MAKE_EDGE(ISTRAIGHT, 3, 10); |
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71 | 58c19c15 | Priya | a2[1] = MAKE_EDGE(IRIGHT, 14, 40); |
72 | 738e44fb | Priya | a2[2] = MAKE_EDGE(IUTURN, 5, 10); |
73 | |||
74 | Edge* a3 = new Edge[ARRAY_SIZE];
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75 | a3[0] = MAKE_EDGE(ISTRAIGHT, 4, 10); |
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76 | 58c19c15 | Priya | a3[1] = MAKE_EDGE(IRIGHT, 15, 40); |
77 | 738e44fb | Priya | a3[2] = MAKE_EDGE(IUTURN, 6, 10); |
78 | |||
79 | Edge* a4 = new Edge[ARRAY_SIZE];
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80 | a4[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
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81 | 58c19c15 | Priya | a4[1] = MAKE_EDGE(IRIGHT, 16, 40); |
82 | 738e44fb | Priya | a4[2] = MAKE_EDGE(IUTURN, 7, 10); |
83 | |||
84 | Edge* a5 = new Edge[ARRAY_SIZE];
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85 | a5[0] = MAKE_EDGE(ISTRAIGHT, DEADEND, 0); |
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86 | 58c19c15 | Priya | a5[1] = MAKE_EDGE(ILEFT, 13, 40); |
87 | 738e44fb | Priya | a5[2] = MAKE_EDGE(IUTURN, 2, 10); |
88 | |||
89 | Edge* a6 = new Edge[ARRAY_SIZE];
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90 | a6[0] = MAKE_EDGE(ISTRAIGHT, 5, 0); |
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91 | 58c19c15 | Priya | a6[1] = MAKE_EDGE(ILEFT, 14, 40); |
92 | 738e44fb | Priya | a6[2] = MAKE_EDGE(IUTURN, 3, 10); |
93 | |||
94 | Edge* a7 = new Edge[ARRAY_SIZE];
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95 | a7[0] = MAKE_EDGE(ISTRAIGHT, 6, 0); |
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96 | 58c19c15 | Priya | a7[1] = MAKE_EDGE(ILEFT, 15, 40); |
97 | afa9104d | Priya | a7[2] = MAKE_EDGE(IUTURN, 4, 10); |
98 | 738e44fb | Priya | |
99 | Edge* a8 = new Edge[ARRAY_SIZE];
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100 | a8[0] = MAKE_EDGE(ISTRAIGHT, 7, 0); |
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101 | 58c19c15 | Priya | a8[1] = MAKE_EDGE(ILEFT, 16, 40); |
102 | 738e44fb | Priya | a8[2] = MAKE_EDGE(IUTURN, DEADEND, 10); |
103 | |||
104 | Edge* a9 = new Edge[ARRAY_SIZE];
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105 | a9[0] = MAKE_EDGE(IRIGHT, 2, 10); |
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106 | a9[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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107 | 58c19c15 | Priya | a9[2] = MAKE_EDGE(ISPOTTURN, 13, 40); |
108 | 738e44fb | Priya | |
109 | Edge* a10 = new Edge[ARRAY_SIZE];
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110 | a10[0] = MAKE_EDGE(IRIGHT, 3, 10); |
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111 | a10[1] = MAKE_EDGE(ILEFT, 5, 10); |
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112 | 58c19c15 | Priya | a10[2] = MAKE_EDGE(ISPOTTURN, 14, 40); |
113 | 738e44fb | Priya | |
114 | Edge* a11 = new Edge[ARRAY_SIZE];
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115 | a11[0] = MAKE_EDGE(IRIGHT, 4, 10); |
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116 | a11[1] = MAKE_EDGE(ILEFT, 6, 10); |
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117 | 58c19c15 | Priya | a11[2] = MAKE_EDGE(ISPOTTURN, 15, 40); |
118 | 738e44fb | Priya | |
119 | Edge* a12 = new Edge[ARRAY_SIZE];
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120 | a12[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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121 | a12[1] = MAKE_EDGE(ILEFT, 7, 10); |
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122 | 58c19c15 | Priya | a12[2] = MAKE_EDGE(ISPOTTURN, 16, 40); |
123 | |||
124 | Edge* a13 = new Edge[ARRAY_SIZE];
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125 | a13[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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126 | a13[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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127 | a13[2] = MAKE_EDGE(ISPOTTURN, 9, 40); |
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128 | |||
129 | Edge* a14 = new Edge[ARRAY_SIZE];
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130 | a14[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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131 | a14[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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132 | a14[2] = MAKE_EDGE(ISPOTTURN, 10, 40); |
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133 | |||
134 | Edge* a15 = new Edge[ARRAY_SIZE];
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135 | a15[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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136 | a15[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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137 | a15[2] = MAKE_EDGE(ISPOTTURN, 11, 40); |
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138 | |||
139 | Edge* a16 = new Edge[ARRAY_SIZE];
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140 | a16[0] = MAKE_EDGE(IRIGHT, DEADEND, 0); |
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141 | a16[1] = MAKE_EDGE(ILEFT, DEADEND, 0); |
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142 | a16[2] = MAKE_EDGE(ISPOTTURN, 12, 40); |
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143 | |||
144 | 738e44fb | Priya | |
145 | map.push_back(a1); |
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146 | map.push_back(a2); |
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147 | map.push_back(a3); |
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148 | map.push_back(a4); |
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149 | map.push_back(a5); |
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150 | map.push_back(a6); |
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151 | map.push_back(a7); |
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152 | map.push_back(a8); |
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153 | map.push_back(a9); |
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154 | map.push_back(a10); |
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155 | map.push_back(a11); |
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156 | map.push_back(a12); |
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157 | 58c19c15 | Priya | map.push_back(a13); |
158 | map.push_back(a14); |
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159 | map.push_back(a15); |
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160 | map.push_back(a16); |
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161 | 738e44fb | Priya | |
162 | curr_state = START_STATE; |
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163 | cccc25c9 | Priya | arrival_time = ros::TIME_MAX; |
164 | d8caf546 | Priya | } |
165 | |||
166 | /** @brief Goes through and frees all allocated memory */
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167 | navigationMap::~navigationMap() |
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168 | { |
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169 | 738e44fb | Priya | while(!map.empty())
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170 | { |
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171 | Edge* temp = map.back(); |
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172 | map.pop_back(); |
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173 | delete temp;
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174 | } |
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175 | return;
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176 | d8caf546 | Priya | } |
177 | |||
178 | 2d697b1f | Leon | /** @brief FSM implementation*/
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179 | cccc25c9 | Priya | void navigationMap::run()
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180 | d8caf546 | Priya | { |
181 | cccc25c9 | Priya | Duration t; |
182 | 6642eee3 | Priya | |
183 | 58c19c15 | Priya | ROS_INFO("Going to state 16\n");
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184 | Path path = shortest_path(16);
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185 | 6642eee3 | Priya | if(path.path == NULL) |
186 | 58c19c15 | Priya | { |
187 | ROS_WARN("There is no path to state 16");
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188 | 6642eee3 | Priya | return;
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189 | 58c19c15 | Priya | } |
190 | 6642eee3 | Priya | |
191 | 58c19c15 | Priya | ROS_INFO("Worst case time to 16 is %d", get_worst_case_time(curr_state, 6).sec); |
192 | cc399ab3 | Priya | |
193 | 6642eee3 | Priya | for(int i=0; i<path.len; i++) |
194 | { |
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195 | update_state(path.path[i]); |
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196 | ROS_INFO("Made turn %d, at state %d\n", path.path[i], curr_state);
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197 | t = get_time_remaining(); |
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198 | cc399ab3 | Priya | while(t.sec > 0) |
199 | 6642eee3 | Priya | t = get_time_remaining(); |
200 | ROS_INFO("Now at state %d\n", curr_state);
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201 | } |
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202 | 58c19c15 | Priya | |
203 | 6642eee3 | Priya | ROS_INFO("Traveled route!\n");
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204 | |||
205 | cccc25c9 | Priya | while(ok())
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206 | continue;
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207 | d8caf546 | Priya | } |
208 | |||
209 | 2d697b1f | Leon | /**@brief sets the current state to the state associated with the turn made
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210 | * @param the Turn that we made from our state
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211 | * @return our new State after making the turn
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212 | */
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213 | cccc25c9 | Priya | State navigationMap::update_state(Turn turn_made) |
214 | ede03b64 | James Carroll | { |
215 | 57e82e6c | James Carroll | Edge* possible_edges = get_outbound_edges(curr_state); |
216 | 6642eee3 | Priya | for(int i=0;i<ARRAY_SIZE;i++) |
217 | 738e44fb | Priya | { |
218 | //sets the current state to the state associated with the turn made
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219 | if(GET_EDGE_DIR(possible_edges[i]) == turn_made)
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220 | { |
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221 | //TODO: get actual speed
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222 | 58c19c15 | Priya | int speed = 10; |
223 | curr_state = GET_EDGE_STATE(possible_edges[i]); |
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224 | cccc25c9 | Priya | Duration travel_time(GET_EDGE_DIST(possible_edges[i])/speed); |
225 | arrival_time = Time::now() + travel_time; |
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226 | 57e82e6c | James Carroll | return curr_state;
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227 | 738e44fb | Priya | } |
228 | } |
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229 | return -1;//failure to succeed |
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230 | ede03b64 | James Carroll | } |
231 | |||
232 | 2d697b1f | Leon | /**@brief returns the predicted time of arrival for our current task
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233 | * @return the predicted time of arrival for our current task
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234 | */
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235 | cccc25c9 | Priya | Time navigationMap::get_eta() |
236 | ede03b64 | James Carroll | { |
237 | 738e44fb | Priya | return arrival_time;
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238 | ede03b64 | James Carroll | } |
239 | |||
240 | 2d697b1f | Leon | /**@brief returns the predicted amount of time it will take to finish our task
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241 | * @return the predicted amount of time it will take to finish our task
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242 | */
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243 | cccc25c9 | Priya | Duration navigationMap::get_time_remaining() |
244 | ede03b64 | James Carroll | { |
245 | cccc25c9 | Priya | return (arrival_time - Time::now());
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246 | ede03b64 | James Carroll | } |
247 | |||
248 | 2d697b1f | Leon | /**@brief returns the current state of the scout in the map
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249 | * @return the current State (ie: int) of the scout in the map
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250 | */
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251 | cccc25c9 | Priya | State navigationMap::get_state() |
252 | d8caf546 | Priya | { |
253 | 738e44fb | Priya | return curr_state;
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254 | d8caf546 | Priya | } |
255 | |||
256 | 2d697b1f | Leon | /**@brief returns the Edges connecting from a given State
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257 | * @param the State whose edges we want to get
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258 | * @return the Edges connecting from the given State
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259 | */
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260 | cccc25c9 | Priya | Edge* navigationMap::get_outbound_edges(State state) |
261 | 0b6591e2 | Priya | { |
262 | cccc25c9 | Priya | return map.at(state-1); |
263 | 0b6591e2 | Priya | } |
264 | |||
265 | 2d697b1f | Leon | /**@brief uses BFS to find the shortest path to a target State node
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266 | cc399ab3 | Priya | * @param target_state the State that we want to get to
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267 | 2d697b1f | Leon | * @return a Path struct containing the Turn* to take to get to the target state
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268 | */
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269 | 738e44fb | Priya | Path navigationMap::shortest_path(State target_state) |
270 | d8caf546 | Priya | { |
271 | cc399ab3 | Priya | return shortest_path(curr_state, target_state);
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272 | } |
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273 | |||
274 | /**@brief uses BFS to find the shortest path to a target State node
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275 | * @param start_state the State that we start from
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276 | * @param target_state the State that we want to get to
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277 | * @return a Path struct containing the Turn* to take to get to the target state
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278 | */
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279 | Path navigationMap::shortest_path(State start_state, State target_state) |
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280 | { |
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281 | 738e44fb | Priya | // BFS algorithm
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282 | cc399ab3 | Priya | State curr_state = start_state; |
283 | 738e44fb | Priya | int visited[MAX_NODES+1] = {0}; |
284 | |||
285 | queue<State> q; |
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286 | q.push(curr_state); |
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287 | // not zero = visited, zero = unvisited, negative = start state
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288 | visited[curr_state] = -1;
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289 | |||
290 | while (!q.empty())
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291 | { |
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292 | State state = q.front(); |
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293 | //actually dequeue it
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294 | q.pop(); |
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295 | if (state == target_state)
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296 | 6642eee3 | Priya | { |
297 | 738e44fb | Priya | Path path; |
298 | 6642eee3 | Priya | path.path = (Turn*)calloc(sizeof(Turn), MAX_NODES);
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299 | 738e44fb | Priya | int j = 0; // counter |
300 | for(State child = state; visited[child] >= 0; |
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301 | child = visited[child]) //while not start state
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302 | { |
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303 | State parent = visited[child]; |
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304 | Edge* edges = get_outbound_edges(parent); |
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305 | for (int i = 0; i < ARRAY_SIZE; i++) |
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306 | 93210a92 | Leon | { |
307 | 738e44fb | Priya | if (GET_EDGE_STATE(edges[i]) == child)
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308 | { |
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309 | path.path[j] = GET_EDGE_DIR(edges[i]); |
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310 | j++; |
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311 | break;
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312 | } |
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313 | 93210a92 | Leon | } |
314 | 738e44fb | Priya | } |
315 | /** Reverse moves list */
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316 | for (int i = 0; i < j/2; i++) |
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317 | { |
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318 | path.path[i] ^= path.path[j-i-1];
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319 | path.path[j-i-1] ^= path.path[i];
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320 | path.path[i] ^= path.path[j-i-1];
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321 | } |
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322 | path.len = j; |
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323 | return path;
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324 | } |
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325 | Edge* edges = get_outbound_edges(state); |
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326 | 6642eee3 | Priya | |
327 | 738e44fb | Priya | for (int i = 0; i < ARRAY_SIZE; i++) |
328 | { |
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329 | State new_state = GET_EDGE_STATE(edges[i]); |
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330 | if (new_state != DEADEND && !visited[new_state])
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331 | { |
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332 | 2d697b1f | Leon | // set this state in visited as the parent of the new_state
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333 | 738e44fb | Priya | visited[new_state] = state; |
334 | q.push(new_state); |
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335 | } |
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336 | 93210a92 | Leon | } |
337 | 738e44fb | Priya | } |
338 | //oops, no way to get to target from state
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339 | Path path; |
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340 | path.len = 0;
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341 | path.path = NULL;
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342 | return path;
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343 | d8caf546 | Priya | } |
344 | 738e44fb | Priya | |
345 | cc399ab3 | Priya | /** @brief returns worst case time to travel to dest
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346 | *
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347 | * Takes into account speed of robot and interactions with other robots
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348 | *
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349 | * @param start_state Node that we start at
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350 | * @param target_state Node that we end up at
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351 | * @return the worst case time to travel to target node
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352 | */
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353 | Duration navigationMap::get_worst_case_time(State start_state, State target_state) |
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354 | { |
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355 | Path path = shortest_path(start_state, target_state); |
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356 | Duration worst_case_time(0);
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357 | |||
358 | State curr_state = start_state; |
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359 | //keep iterating over path while there are turns
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360 | for(int i=0; i<path.len; i++) |
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361 | { |
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362 | Edge* edges = get_outbound_edges(curr_state); |
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363 | for(int j=0; j<ARRAY_SIZE; j++) |
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364 | { |
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365 | if(GET_EDGE_DIR(edges[j]) == path.path[i])
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366 | { |
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367 | Duration turn_time(TURN_TIME + (GET_EDGE_DIST(edges[j])/SPEED)); |
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368 | worst_case_time += turn_time; |
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369 | } |
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370 | } |
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371 | } |
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372 | Duration additional_time(DROPOFF_TIME + WAIT_TIME); |
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373 | worst_case_time += additional_time; |
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374 | 738e44fb | Priya | |
375 | cc399ab3 | Priya | return worst_case_time;
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376 | } |