Revision aa5e4ddc
| ID | aa5e4ddcdd38a8388d7157691894c250e3cb439d |
Finishing BFS for behaviors navigationMap. Also commiting teleop skeleton code.
| scout/libscout/src/behaviors/navigationMap.cpp | ||
|---|---|---|
| 14 | 14 |
* --- --- --- --- |
| 15 | 15 |
*/ |
| 16 | 16 |
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| 17 |
Edge* a1 = {MAKE_EDGE(ISTRAIGHT, 2, 10),
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MAKE_EDGE(IRIGHT, 9, 40), |
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MAKE_EDGE(IUTURN, DEADEND, 0)}; |
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Edge a1[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 2, 10),
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MAKE_EDGE(IRIGHT, 9, 40),
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MAKE_EDGE(IUTURN, DEADEND, 0)};
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| 20 | 20 |
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Edge* a2 = {MAKE_EDGE(ISTRAIGHT, 3, 10),
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MAKE_EDGE(IRIGHT, 10, 40), |
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MAKE_EDGE(IUTURN, 5, 10)}; |
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Edge a2[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 3, 10),
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MAKE_EDGE(IRIGHT, 10, 40),
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MAKE_EDGE(IUTURN, 5, 10)};
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| 24 | 24 |
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Edge* a3 = {MAKE_EDGE(ISTRAIGHT, 4, 10),
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MAKE_EDGE(IRIGHT, 11, 40), |
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MAKE_EDGE(IUTURN, 6, 10)}; |
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Edge a3[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 4, 10),
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MAKE_EDGE(IRIGHT, 11, 40),
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MAKE_EDGE(IUTURN, 6, 10)};
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| 28 | 28 |
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Edge* a4 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(IRIGHT, 12, 40), |
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MAKE_EDGE(IUTURN, 7, 10)}; |
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Edge a4[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(IRIGHT, 12, 40),
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MAKE_EDGE(IUTURN, 7, 10)};
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| 32 | 32 |
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Edge* a5 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(ILEFT, 9, 40), |
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MAKE_EDGE(IUTURN, 2, 10)}; |
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Edge a5[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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MAKE_EDGE(ILEFT, 9, 40),
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MAKE_EDGE(IUTURN, 2, 10)};
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| 36 | 36 |
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Edge* a6 = {MAKE_EDGE(ISTRAIGHT, 5, 10),
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MAKE_EGE(ILEFT, 10, 40),
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MAKE_EDGE(IUTURN, 3, 10)}; |
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Edge a6[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 5, 10),
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MAKE_EDGE(ILEFT, 10, 40),
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MAKE_EDGE(IUTURN, 3, 10)};
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| 40 | 40 |
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Edge* a7 = {MAKE_EDGE(ISTRAIGHT, 6, 10),
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MAKE_EGE(ILEFT, 11, 40),
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MAKE_EDGE(IUTURN, 4, 10)}; |
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Edge a7[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 6, 10),
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MAKE_EDGE(ILEFT, 11, 40),
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MAKE_EDGE(IUTURN, 4, 10)};
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| 44 | 44 |
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Edge* a8 = {MAKE_EDGE(ISTRAIGHT, 7, 10),
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MAKE_EGE(ILEFT, 12, 40),
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MAKE_EDGE(IUTURN, DEADEND, 0)}; |
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Edge a8[ARRAY_SIZE] = {MAKE_EDGE(ISTRAIGHT, 7, 10),
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MAKE_EDGE(ILEFT, 12, 40),
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MAKE_EDGE(IUTURN, DEADEND, 0)};
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| 48 | 48 |
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Edge* a9 = {MAKE_EDGE(IRIGHT, 2, 10),
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MAKE_EGE(ILEFT, DEADEND, 0),
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MAKE_EDGE(IUTURN, 9, 40)}; |
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Edge a9[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 2, 10),
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MAKE_EDGE(ILEFT, DEADEND, 0),
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MAKE_EDGE(IUTURN, 9, 40)};
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| 52 | 52 |
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Edge* a10 = {MAKE_EDGE(IRIGHT, 3, 10),
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MAKE_EGE(ILEFT, 5, 10),
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MAKE_EDGE(IUTURN, 10, 40)}; |
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Edge a10[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 3, 10),
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MAKE_EDGE(ILEFT, 5, 10),
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MAKE_EDGE(IUTURN, 10, 40)};
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| 56 | 56 |
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Edge* a11 = {MAKE_EDGE(IRIGHT, 4, 10),
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MAKE_EGE(ILEFT, 6, 10),
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MAKE_EDGE(IUTURN, 11, 40)}; |
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Edge a11[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, 4, 10),
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MAKE_EDGE(ILEFT, 6, 10),
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MAKE_EDGE(IUTURN, 11, 40)};
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| 60 | 60 |
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Edge* a12 = {MAKE_EDGE(IRIGHT, DEADEND, 0),
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MAKE_EGE(ILEFT, 7, 10),
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MAKE_EDGE(IUTURN, 12, 40)}; |
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Edge a12[ARRAY_SIZE] = {MAKE_EDGE(IRIGHT, DEADEND, 0),
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MAKE_EDGE(ILEFT, 7, 10),
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MAKE_EDGE(IUTURN, 12, 40)};
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| 64 | 64 |
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| 65 | 65 |
map.pushback(a1); |
| 66 | 66 |
map.pushback(a2); |
| ... | ... | |
| 82 | 82 |
{
|
| 83 | 83 |
while(!map.empty()) |
| 84 | 84 |
{
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Edge** e = pop_back(); |
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for(int i=0; i<ARRAY_SIZE; i++) |
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{
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delete e[i]; |
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} |
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Edge* e = map.pop_back(); |
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delete e; |
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| 90 | 87 |
} |
| 91 | 88 |
return; |
| 92 | 89 |
} |
| ... | ... | |
| 106 | 103 |
// BFS algorithm |
| 107 | 104 |
State curr_state = get_state(); |
| 108 | 105 |
char visited[MAX_NODES+1]; |
| 109 |
//FAKE QUEUE OH NO
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//TODO: real implementation
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Queue queue;
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queue.enqueue(curr_state);
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queue<State> q;
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q.push(curr_state);
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// not zero = visited, zero = unvisited, negative = start state
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visited[curr_state] = -1;
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| 113 | 110 |
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// 1 == visited, 0 == not visited |
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visited[curr_state] = 1; |
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while (!queue.is_empty) |
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while (!q.is_empty) |
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| 118 | 112 |
{
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State state = queue.dequeue();
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State state = q.pop();
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| 120 | 114 |
if (state == target_state) |
| 121 | 115 |
{
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//TODO: implement moves_list
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State i;
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while(i != curr_state)
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Turn moves_list[MAX_NODES];
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int j = 0; // counter
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for(State child = state; visited[child] >= 0; |
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child = visited[child]) //while not start state
|
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| 126 | 120 |
{
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i = visited[i]; |
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State parent = visited[child]; |
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Edge* edges = get_outbound_edges(parent); |
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for (int i = 0; i < ARRAY_SIZE; i++) |
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{
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if (GET_EDGE_STATE(edges[i]) == child) |
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{
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moves_list[j] = GET_EDGE_DIR(edges[i]); |
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j++; |
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break; |
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} |
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} |
|
| 129 | 132 |
} |
| 130 | 133 |
return moves_list; |
| 131 | 134 |
} |
| ... | ... | |
| 136 | 139 |
State new_state = GET_EDGE_STATE(edges[i]); |
| 137 | 140 |
if (!visited[new_state]) |
| 138 | 141 |
{
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// set visited to the parent of the new state |
|
| 139 | 143 |
visited[new_state] = state; |
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queue.enqueue(new_state);
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q.push(new_state);
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| 141 | 145 |
} |
| 142 | 146 |
} |
| 143 | 147 |
} |
| 144 |
} |
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|
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navigationMap::make_edge(Turn dir, State state, int dist) |
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{
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Edge* e = new Edge; |
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e->direction = dir; |
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e->state = state; |
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e->distance = dist; |
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return e; |
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//oops, no way to get to target from state |
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return NULL; |
|
| 153 | 150 |
} |
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