root / scout / libscout / src / behaviors / navigationMap.cpp @ d8caf546
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1 | d8caf546 | Priya | #include "navigationMap.h" |
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2 | |||
3 | /** @brief Initializes the map */
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4 | navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname)
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5 | { |
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6 | /** Initialize Map
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7 | *
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8 | * 1 2 3 4
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9 | * ----|-----------|----------|---------|---------->
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10 | * <---|--5--------|--6-------|--7------|--8-------
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11 | * | | | |
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12 | * 9| 10| 11| 12|
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13 | * | | | |
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14 | * --- --- --- ---
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15 | */
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16 | |||
17 | Edge* a1 = {MAKE_EDGE(ISTRAIGHT, 2, 10), |
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18 | MAKE_EDGE(IRIGHT, 9, 40), |
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19 | MAKE_EDGE(IUTURN, DEADEND, 0)};
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20 | |||
21 | Edge* a2 = {MAKE_EDGE(ISTRAIGHT, 3, 10), |
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22 | MAKE_EDGE(IRIGHT, 10, 40), |
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23 | MAKE_EDGE(IUTURN, 5, 10)}; |
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24 | |||
25 | Edge* a3 = {MAKE_EDGE(ISTRAIGHT, 4, 10), |
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26 | MAKE_EDGE(IRIGHT, 11, 40), |
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27 | MAKE_EDGE(IUTURN, 6, 10)}; |
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28 | |||
29 | Edge* a4 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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30 | MAKE_EDGE(IRIGHT, 12, 40), |
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31 | MAKE_EDGE(IUTURN, 7, 10)}; |
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32 | |||
33 | Edge* a5 = {MAKE_EDGE(ISTRAIGHT, DEADEND, 0),
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34 | MAKE_EDGE(ILEFT, 9, 40), |
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35 | MAKE_EDGE(IUTURN, 2, 10)}; |
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36 | |||
37 | Edge* a6 = {MAKE_EDGE(ISTRAIGHT, 5, 10), |
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38 | MAKE_EGE(ILEFT, 10, 40), |
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39 | MAKE_EDGE(IUTURN, 3, 10)}; |
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40 | |||
41 | Edge* a7 = {MAKE_EDGE(ISTRAIGHT, 6, 10), |
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42 | MAKE_EGE(ILEFT, 11, 40), |
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43 | MAKE_EDGE(IUTURN, 4, 10)}; |
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44 | |||
45 | Edge* a8 = {MAKE_EDGE(ISTRAIGHT, 7, 10), |
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46 | MAKE_EGE(ILEFT, 12, 40), |
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47 | MAKE_EDGE(IUTURN, DEADEND, 0)};
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48 | |||
49 | Edge* a9 = {MAKE_EDGE(IRIGHT, 2, 10), |
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50 | MAKE_EGE(ILEFT, DEADEND, 0),
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51 | MAKE_EDGE(IUTURN, 9, 40)}; |
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52 | |||
53 | Edge* a10 = {MAKE_EDGE(IRIGHT, 3, 10), |
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54 | MAKE_EGE(ILEFT, 5, 10), |
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55 | MAKE_EDGE(IUTURN, 10, 40)}; |
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56 | |||
57 | Edge* a11 = {MAKE_EDGE(IRIGHT, 4, 10), |
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58 | MAKE_EGE(ILEFT, 6, 10), |
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59 | MAKE_EDGE(IUTURN, 11, 40)}; |
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60 | |||
61 | Edge* a12 = {MAKE_EDGE(IRIGHT, DEADEND, 0),
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62 | MAKE_EGE(ILEFT, 7, 10), |
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63 | MAKE_EDGE(IUTURN, 12, 40)}; |
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64 | |||
65 | map.pushback(a1); |
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66 | map.pushback(a2); |
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67 | map.pushback(a3); |
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68 | map.pushback(a4); |
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69 | map.pushback(a5); |
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70 | map.pushback(a6); |
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71 | map.pushback(a7); |
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72 | map.pushback(a8); |
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73 | map.pushback(a9); |
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74 | map.pushback(a10); |
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75 | map.pushback(a11); |
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76 | map.pushback(a12); |
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77 | |||
78 | } |
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79 | |||
80 | /** @brief Goes through and frees all allocated memory */
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81 | navigationMap::~navigationMap() |
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82 | { |
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83 | while(!map.empty())
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84 | { |
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85 | Edge** e = pop_back(); |
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86 | for(int i=0; i<ARRAY_SIZE; i++) |
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87 | { |
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88 | delete e[i];
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89 | } |
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90 | } |
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91 | return;
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92 | } |
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93 | |||
94 | navigationMap::run() |
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95 | { |
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96 | |||
97 | } |
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98 | |||
99 | navigationMap::get_state() |
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100 | { |
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101 | return curr_state;
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102 | } |
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103 | |||
104 | navigationMap::shortest_path(State target_state) |
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105 | { |
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106 | // BFS algorithm
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107 | } |
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108 | |||
109 | navigationMap::make_edge(Turn dir, State state, int dist)
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110 | { |
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111 | Edge* e = new Edge;
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112 | e->direction = dir; |
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113 | e->state = state; |
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114 | e->distance = dist; |
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115 | return e;
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116 | } |