Revision cc399ab3
| ID | cc399ab319f31b645b41e8adec17a4d2061166cf |
added get_worst_case_time to nav maps
| scout/libscout/src/behaviors/navigationMap.h | ||
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| 56 | 56 |
#define DEADEND 255 |
| 57 | 57 |
#define ARRAY_SIZE 3 |
| 58 | 58 |
#define MAX_NODES 12 |
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#define SPEED 10 //distance_unit per s |
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#define DROPOFF_TIME 10 //seconds |
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#define TURN_TIME 3 //Seconds |
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#define NUM_ROBOTS 2 |
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#define WAIT_TIME (TURN_TIME * NUM_ROBOTS) //Seconds |
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| 59 | 65 |
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| 60 | 66 |
/** used to extract information from an encoded Edge */ |
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#define GET_EDGE_DIR(edge) ((edge)&0x3) |
| ... | ... | |
| 72 | 78 |
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/** an integer with a direction, an associated state, and distance |
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* encoded into its bits*/ |
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typedef int Edge; |
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typedef unsigned int Edge;
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/** a simple number representing the number of a node*/ |
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typedef unsigned int State; |
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/** a number representing a type of turn, as defined above*/ |
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typedef int Turn; |
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typedef unsigned int Turn;
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/** a list of turns to follow a path */ |
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typedef struct{
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| ... | ... | |
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/** returns the current state of the scout in the map*/ |
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State get_state(); |
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/** uses BFS to find the shortest path to a target State node */ |
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Path shortest_path(State start_state, State target_state); |
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Path shortest_path(State target_state); |
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/** returns the predicted worst case time it will take to travel from src to dest nodes */ |
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Duration get_worst_case_time(State start_state, State target_state); |
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private: |
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/** the dynamic array of edge arrays representing individual State nodes */ |
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std::vector <Edge*> map; |
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