root / scout / libscout / src / behaviors / navigationMap.h @ 7ac5e9bc
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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.h
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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 | #ifndef _NAVIGATION_MAP_
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41 | #define _NAVIGATION_MAP_
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42 | |||
43 | #include <cstdlib> |
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44 | aa5e4ddc | Leon | #include <queue> |
45 | cccc25c9 | Priya | #include "../Behavior.h" |
46 | //#include "lineDrive.h" // Get turn Macros
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47 | |||
48 | 2d697b1f | Leon | /** Turn defintions */
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49 | cccc25c9 | Priya | #define ISTRAIGHT 0 |
50 | #define ILEFT 1 |
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51 | #define IRIGHT 2 |
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52 | #define IUTURN 3 |
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53 | d8caf546 | Priya | |
54 | #define START_STATE 1 |
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55 | |||
56 | 6642eee3 | Priya | #define DEADEND 255 |
57 | d8caf546 | Priya | #define ARRAY_SIZE 3 |
58 | 93210a92 | Leon | #define MAX_NODES 12 |
59 | cc399ab3 | Priya | |
60 | #define SPEED 10 //distance_unit per s |
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61 | #define DROPOFF_TIME 10 //seconds |
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62 | #define TURN_TIME 3 //Seconds |
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63 | #define NUM_ROBOTS 2 |
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64 | #define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds |
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65 | 2d697b1f | Leon | |
66 | /** used to extract information from an encoded Edge */
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67 | d8caf546 | Priya | #define GET_EDGE_DIR(edge) ((edge)&0x3) |
68 | #define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF) |
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69 | #define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF) |
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70 | |||
71 | 2d697b1f | Leon | /** used to change or build an Edge's information */
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72 | d8caf546 | Priya | #define SET_EDGE_DIR(dir) ((dir)&0x3) |
73 | #define SET_EDGE_STATE(state) (((state)&0xFF)<<2) |
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74 | #define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10) |
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75 | |||
76 | #define MAKE_EDGE(dir, state, dist) \
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77 | 738e44fb | Priya | SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist) |
78 | |||
79 | 2d697b1f | Leon | /** an integer with a direction, an associated state, and distance
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80 | * encoded into its bits*/
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81 | cc399ab3 | Priya | typedef unsigned int Edge; |
82 | 2d697b1f | Leon | |
83 | /** a simple number representing the number of a node*/
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84 | 6642eee3 | Priya | typedef unsigned int State; |
85 | 2d697b1f | Leon | |
86 | /** a number representing a type of turn, as defined above*/
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87 | cc399ab3 | Priya | typedef unsigned int Turn; |
88 | d8caf546 | Priya | |
89 | 2d697b1f | Leon | /** a list of turns to follow a path */
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90 | 738e44fb | Priya | typedef struct{ |
91 | int len;
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92 | Turn* path; |
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93 | } Path; |
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94 | |||
95 | d8caf546 | Priya | class navigationMap : Behavior |
96 | { |
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97 | 738e44fb | Priya | public:
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98 | 2d697b1f | Leon | /** Initializes the navigation map */
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99 | 738e44fb | Priya | navigationMap(std::string scoutname); |
100 | 2d697b1f | Leon | /** Goes through and frees all allocated memory */
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101 | 738e44fb | Priya | ~navigationMap(); |
102 | |||
103 | 2d697b1f | Leon | /** FSM implementation */
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104 | 738e44fb | Priya | void run();
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105 | 2d697b1f | Leon | |
106 | /** sets the current state to the state associated with the turn made */
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107 | 738e44fb | Priya | State update_state(Turn turn_made); |
108 | |||
109 | 2d697b1f | Leon | /** returns the predicted time of arrival for our current task */
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110 | 738e44fb | Priya | Time get_eta(); |
111 | 2d697b1f | Leon | /** returns the predicted amount of time it will take to finish our task */
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112 | cccc25c9 | Priya | Duration get_time_remaining(); |
113 | 738e44fb | Priya | |
114 | 2d697b1f | Leon | /** returns the Edges connecting from a given State */
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115 | Edge* get_outbound_edges(State state); |
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116 | |||
117 | /** returns the current state of the scout in the map*/
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118 | 738e44fb | Priya | State get_state(); |
119 | 2d697b1f | Leon | /** uses BFS to find the shortest path to a target State node */
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120 | cc399ab3 | Priya | Path shortest_path(State start_state, State target_state); |
121 | 738e44fb | Priya | Path shortest_path(State target_state); |
122 | |||
123 | cc399ab3 | Priya | /** returns the predicted worst case time it will take to travel from src to dest nodes */
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124 | Duration get_worst_case_time(State start_state, State target_state); |
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125 | |||
126 | 738e44fb | Priya | private:
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127 | 2d697b1f | Leon | /** the dynamic array of edge arrays representing individual State nodes */
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128 | cccc25c9 | Priya | std::vector <Edge*> map; |
129 | 2d697b1f | Leon | /** the current State node */
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130 | 738e44fb | Priya | State curr_state; |
131 | 2d697b1f | Leon | /** the predicted time of arrival for our current task */
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132 | 738e44fb | Priya | Time arrival_time; |
133 | d8caf546 | Priya | }; |
134 | #endif |