ARES / Mbed 2 deprecated Robot2016_2-0

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Map/nVector.h@54:be4ea8da9057, 2016-05-04 (annotated)

Committer:
IceTeam
Date:
Wed May 04 16:25:54 2016 +0000
Revision:
54:be4ea8da9057
Parent:
47:be4eebf40568 
Correction bug cout + ajout d'obstacles;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 47:be4eebf40568 1 #ifndef VECTOR_H
IceTeam 47:be4eebf40568 2 #define VECTOR_H
IceTeam 47:be4eebf40568 3
IceTeam 47:be4eebf40568 4 template<class T>
IceTeam 47:be4eebf40568 5 class elem {
IceTeam 47:be4eebf40568 6 public:
IceTeam 47:be4eebf40568 7 elem () { ; }
IceTeam 47:be4eebf40568 8 elem (T nval) : val (nval) { next = NULL; prev = NULL; }
IceTeam 47:be4eebf40568 9 elem (T nval, elem* nprev) : val (nval) { next = NULL; prev = nprev; }
IceTeam 47:be4eebf40568 10
IceTeam 47:be4eebf40568 11 elem<T> * gNext () { return next; }
IceTeam 47:be4eebf40568 12 elem<T> * gprev () { return prev; }
IceTeam 47:be4eebf40568 13 T& getVal () { return val; }
IceTeam 47:be4eebf40568 14
IceTeam 47:be4eebf40568 15 void sNext (elem<T> * nnext) { next = nnext; }
IceTeam 47:be4eebf40568 16 void sPrev (elem<T> * nprev) { prev = nprev; }
IceTeam 47:be4eebf40568 17
IceTeam 47:be4eebf40568 18 private:
IceTeam 47:be4eebf40568 19 T val;
IceTeam 47:be4eebf40568 20 elem<T> * next;
IceTeam 47:be4eebf40568 21 elem<T> * prev;
IceTeam 47:be4eebf40568 22 };
IceTeam 47:be4eebf40568 23
IceTeam 47:be4eebf40568 24 template<class T>
IceTeam 47:be4eebf40568 25 class nVector {
IceTeam 47:be4eebf40568 26 public:
IceTeam 47:be4eebf40568 27 nVector () {
IceTeam 47:be4eebf40568 28 first = NULL;
IceTeam 47:be4eebf40568 29 curr = NULL;
IceTeam 47:be4eebf40568 30 init = false;
IceTeam 47:be4eebf40568 31 VectorSize = 0;
IceTeam 47:be4eebf40568 32 }
IceTeam 47:be4eebf40568 33
IceTeam 47:be4eebf40568 34 void push_back (T val) {
IceTeam 47:be4eebf40568 35 if (init) {
IceTeam 47:be4eebf40568 36 setCurrLast ();
IceTeam 47:be4eebf40568 37 elem<T> * n = new elem<T> (val, curr);
IceTeam 47:be4eebf40568 38 curr->sNext (n);
IceTeam 47:be4eebf40568 39 n->sPrev (curr);
IceTeam 47:be4eebf40568 40 VectorSize++;
IceTeam 47:be4eebf40568 41 }
IceTeam 47:be4eebf40568 42 else {
IceTeam 47:be4eebf40568 43 init = true;
IceTeam 47:be4eebf40568 44 first = new elem<T> (val);
IceTeam 47:be4eebf40568 45 VectorSize = 1;
IceTeam 47:be4eebf40568 46 }
IceTeam 47:be4eebf40568 47 }
IceTeam 47:be4eebf40568 48
IceTeam 47:be4eebf40568 49 void push_first (T val) {
IceTeam 47:be4eebf40568 50 if (init) {
IceTeam 47:be4eebf40568 51 curr = first;
IceTeam 47:be4eebf40568 52 elem<T> * n = new elem<T> (val);
IceTeam 47:be4eebf40568 53 curr->sPrev (n);
IceTeam 47:be4eebf40568 54 n->sNext (curr);
IceTeam 47:be4eebf40568 55 first = n;
IceTeam 47:be4eebf40568 56 VectorSize++;
IceTeam 47:be4eebf40568 57 }
IceTeam 47:be4eebf40568 58 else {
IceTeam 47:be4eebf40568 59 init = true;
IceTeam 47:be4eebf40568 60 first = new elem<T> (val);
IceTeam 47:be4eebf40568 61 VectorSize = 1;
IceTeam 47:be4eebf40568 62 }
IceTeam 47:be4eebf40568 63 }
IceTeam 47:be4eebf40568 64
IceTeam 47:be4eebf40568 65 bool erase (int index) {
IceTeam 47:be4eebf40568 66 bool worked = true;
IceTeam 47:be4eebf40568 67
IceTeam 47:be4eebf40568 68 if (init) {
IceTeam 47:be4eebf40568 69 if (index > 0 && index < VectorSize) {
IceTeam 47:be4eebf40568 70 if (setCurrIndex (index)) {
IceTeam 47:be4eebf40568 71 elem<T>* p = curr->gprev ();
IceTeam 47:be4eebf40568 72 if (p != NULL)
IceTeam 47:be4eebf40568 73 p->sNext (curr->gNext ());
IceTeam 47:be4eebf40568 74
IceTeam 47:be4eebf40568 75 elem<T>* n = curr->gNext ();
IceTeam 47:be4eebf40568 76 if (n != NULL)
IceTeam 47:be4eebf40568 77 n->sPrev (p);
IceTeam 47:be4eebf40568 78
IceTeam 47:be4eebf40568 79 delete curr;
IceTeam 47:be4eebf40568 80
IceTeam 47:be4eebf40568 81 VectorSize--;
IceTeam 47:be4eebf40568 82 if (VectorSize <= 0) {
IceTeam 47:be4eebf40568 83 init = false;
IceTeam 47:be4eebf40568 84 }
IceTeam 47:be4eebf40568 85 }
IceTeam 47:be4eebf40568 86 }
IceTeam 47:be4eebf40568 87 else if (index == 0 && index < VectorSize) {
IceTeam 47:be4eebf40568 88 elem<T> * n = first->gNext ();
IceTeam 47:be4eebf40568 89
IceTeam 47:be4eebf40568 90 if (n != NULL) {
IceTeam 47:be4eebf40568 91 n->sPrev (NULL);
IceTeam 47:be4eebf40568 92 delete first;
IceTeam 47:be4eebf40568 93 first = n;
IceTeam 47:be4eebf40568 94 VectorSize--;
IceTeam 47:be4eebf40568 95 }
IceTeam 47:be4eebf40568 96 else {
IceTeam 47:be4eebf40568 97 init = false;
IceTeam 47:be4eebf40568 98 delete first;
IceTeam 47:be4eebf40568 99 VectorSize = 0;
IceTeam 47:be4eebf40568 100 }
IceTeam 47:be4eebf40568 101 }
IceTeam 47:be4eebf40568 102 else {
IceTeam 47:be4eebf40568 103 worked = false;
IceTeam 47:be4eebf40568 104 }
IceTeam 47:be4eebf40568 105 }
IceTeam 47:be4eebf40568 106 else {
IceTeam 47:be4eebf40568 107 worked = false;
IceTeam 47:be4eebf40568 108 }
IceTeam 47:be4eebf40568 109 return worked;
IceTeam 47:be4eebf40568 110 }
IceTeam 47:be4eebf40568 111
IceTeam 47:be4eebf40568 112 void concatenate (nVector<T>& t) {
IceTeam 47:be4eebf40568 113 for (int i = 0; i < t.size (); ++i)
IceTeam 47:be4eebf40568 114 push_back (t[i]);
IceTeam 47:be4eebf40568 115 }
IceTeam 47:be4eebf40568 116
IceTeam 47:be4eebf40568 117 int size () { return VectorSize; }
IceTeam 47:be4eebf40568 118 bool empty () { return !init; }
IceTeam 47:be4eebf40568 119
IceTeam 47:be4eebf40568 120 T& operator[](int ind) {
IceTeam 47:be4eebf40568 121 setCurrIndex (ind);
IceTeam 47:be4eebf40568 122 return curr->getVal ();
IceTeam 47:be4eebf40568 123 }
IceTeam 47:be4eebf40568 124
IceTeam 54:be4ea8da9057 125 /*
IceTeam 47:be4eebf40568 126 void show () {
IceTeam 47:be4eebf40568 127 for (int i = 0; i < VectorSize; ++i) {
IceTeam 47:be4eebf40568 128 setCurrIndex (i);
IceTeam 47:be4eebf40568 129 std::cout << "(" << curr << ") Element " << i + 1 << " pere : " << curr->gprev() << ", fils " << curr->gNext () << std::endl;
IceTeam 47:be4eebf40568 130 }
IceTeam 47:be4eebf40568 131 }
IceTeam 54:be4ea8da9057 132 */
IceTeam 47:be4eebf40568 133 void clear () {
IceTeam 47:be4eebf40568 134 while (VectorSize != 0) {
IceTeam 47:be4eebf40568 135 erase (0);
IceTeam 47:be4eebf40568 136 }
IceTeam 47:be4eebf40568 137 }
IceTeam 47:be4eebf40568 138 private:
IceTeam 47:be4eebf40568 139 void setCurrLast () {
IceTeam 47:be4eebf40568 140 if (init) {
IceTeam 47:be4eebf40568 141 curr = first;
IceTeam 47:be4eebf40568 142 while (curr->gNext () != NULL) {
IceTeam 47:be4eebf40568 143 curr = curr->gNext ();
IceTeam 47:be4eebf40568 144 }
IceTeam 47:be4eebf40568 145 }
IceTeam 47:be4eebf40568 146 }
IceTeam 47:be4eebf40568 147
IceTeam 47:be4eebf40568 148 bool setCurrIndex (int index) {
IceTeam 47:be4eebf40568 149 curr = first;
IceTeam 47:be4eebf40568 150 bool worked = true;
IceTeam 47:be4eebf40568 151
IceTeam 47:be4eebf40568 152 for (int i = 0; i < index; ++i) {
IceTeam 47:be4eebf40568 153 if (curr->gNext () != NULL)
IceTeam 47:be4eebf40568 154 curr = curr->gNext ();
IceTeam 47:be4eebf40568 155 else {
IceTeam 47:be4eebf40568 156 worked = false;
IceTeam 47:be4eebf40568 157 break;
IceTeam 47:be4eebf40568 158 }
IceTeam 47:be4eebf40568 159 }
IceTeam 47:be4eebf40568 160 return worked;
IceTeam 47:be4eebf40568 161 }
IceTeam 47:be4eebf40568 162
IceTeam 47:be4eebf40568 163 elem<T>* first;
IceTeam 47:be4eebf40568 164 elem<T>* curr;
IceTeam 47:be4eebf40568 165
IceTeam 47:be4eebf40568 166 bool init;
IceTeam 47:be4eebf40568 167 int VectorSize;
IceTeam 47:be4eebf40568 168 };
IceTeam 47:be4eebf40568 169 #endif