root / scout / libscout / src / behaviors / navigationMap.h @ 93210a92
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1 | d8caf546 | Priya | #ifndef _NAVIGATION_MAP_
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2 | #define _NAVIGATION_MAP_
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3 | |||
4 | #include <cstdlib> |
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5 | #include "linieDrive.h" // Get turn Macros |
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6 | |||
7 | #define START_STATE 1 |
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8 | |||
9 | #define DEADEND -1 |
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10 | #define ARRAY_SIZE 3 |
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11 | 93210a92 | Leon | #define MAX_NODES 12 |
12 | d8caf546 | Priya | |
13 | #define GET_EDGE_DIR(edge) ((edge)&0x3) |
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14 | #define GET_EDGE_STATE(edge) (((edge)>>2)&0xFF) |
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15 | #define GET_EDGE_DIST(edge) (((edge)>>10)&0x3FFFFF) |
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16 | |||
17 | #define SET_EDGE_DIR(dir) ((dir)&0x3) |
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18 | #define SET_EDGE_STATE(state) (((state)&0xFF)<<2) |
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19 | #define SET_EDGE_DIST(dist) (((dist)&0x3FFFFF)<<10) |
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20 | |||
21 | #define MAKE_EDGE(dir, state, dist) \
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22 | SET_EDGE_DIR(dir)+SET_EDGE_STATE(state)+SET_EDGE_DIST(dist) |
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23 | |||
24 | typedef int Edge; |
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25 | typedef int State; |
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26 | typedef int Turn; |
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27 | |||
28 | class navigationMap : Behavior |
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29 | { |
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30 | public:
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31 | navigationMap(std::string scoutname); |
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32 | ~navigationMap(); |
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33 | |||
34 | void run();
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35 | |||
36 | State get_state(); |
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37 | Turn* shortest_path(State target_state); |
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38 | |||
39 | 93210a92 | Leon | Edge* get_outbound_edges(State state); |
40 | d8caf546 | Priya | |
41 | private:
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42 | vector <Edge*> map; |
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43 | State curr_state; |
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44 | |||
45 | Edge* make_edge(Turn dir, State state, int dist);
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46 | |||
47 | }; |
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48 | #endif |