root / scout / libscout / src / behaviors / navigationMap.cpp @ d8caf546
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#include "navigationMap.h" |
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/** @brief Initializes the map */
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navigationMap::navigationMap(std::string scoutname) : Behavior(scoutname)
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{ |
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/** Initialize Map
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*
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* 1 2 3 4
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* ----|-----------|----------|---------|---------->
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* <---|--5--------|--6-------|--7------|--8-------
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* | | | |
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* 9| 10| 11| 12|
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* | | | |
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* --- --- --- ---
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*/
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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* 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* 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* 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* 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* 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* 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* 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* 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* 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* 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* 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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map.pushback(a1); |
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map.pushback(a2); |
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map.pushback(a3); |
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map.pushback(a4); |
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map.pushback(a5); |
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map.pushback(a6); |
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map.pushback(a7); |
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map.pushback(a8); |
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map.pushback(a9); |
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map.pushback(a10); |
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map.pushback(a11); |
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map.pushback(a12); |
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} |
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/** @brief Goes through and frees all allocated memory */
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navigationMap::~navigationMap() |
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{ |
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while(!map.empty())
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{ |
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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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} |
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return;
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} |
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navigationMap::run() |
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{ |
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} |
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navigationMap::get_state() |
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{ |
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return curr_state;
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} |
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navigationMap::shortest_path(State target_state) |
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{ |
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// BFS algorithm
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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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} |