root / scout / libscout / src / test_behaviors / maze_solve.h @ 7b5ea072
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#ifndef _MAZE_SOLVE_H_
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#define _MAZE_SOLVE_H_
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#include "../behaviors/line_follow.h" |
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class maze_solve: public line_follow |
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{ |
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public:
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maze_solve(std::string scoutname, Sensors* sensors): |
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line_follow(scoutname, "maze_solve", sensors) {};
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void run();
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private:
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bool solve(int row, int col, int dir, bool root); |
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void turn_from_to(int current_dir, int intended_dir); |
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bool look_around(int row, int col, int dir); |
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bool at_destination();
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void print_board(int board[60][60], int c_row, int c_col); |
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int map[60][60]; |
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}; |
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#endif
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