Revision 738e44fb
| ID | 738e44fba982b01d75863a98b744fa055b68de44 |
navigationMap bfs tested and worksgit status!
| scout/libscout/src/behaviors/navigationMap.h | ||
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#define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10) |
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#define MAKE_EDGE(dir, state, dist) \ |
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SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist) |
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SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist)
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typedef int Edge; |
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typedef int State; |
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typedef int Turn; |
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typedef ros::Time Time; |
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typedef struct{
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int len; |
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Turn* path; |
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} Path; |
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class navigationMap : Behavior |
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{
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public:
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navigationMap(std::string scoutname);
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~navigationMap();
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void run();
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State update_state(Turn turn_made);
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Time get_eta();
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Time get_time_remaining();
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State get_state();
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Turn* shortest_path(State target_state);
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Edge* get_outbound_edges(State state);
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private:
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vector <Edge*> map;
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State curr_state;
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Time arrival_time;
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public: |
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navigationMap(std::string scoutname); |
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~navigationMap(); |
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void run(); |
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State update_state(Turn turn_made);
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Time get_eta();
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Time get_time_remaining();
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State get_state(); |
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Path shortest_path(State target_state);
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Edge* get_outbound_edges(State state); |
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private: |
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vector <Edge*> map; |
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State curr_state; |
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Time arrival_time;
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}; |
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#endif |
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