ARES / Mbed 2 deprecated TestMyPathFind

Test du path finding

Dependencies:   RoboClaw mbed

Fork of TestMyPathFind by Romain Ame

map/nVector.h@39:ca4dd3faffa8, 2016-04-13 (annotated)

Committer:
IceTeam
Date:
Wed Apr 13 11:27:01 2016 +0000
Revision:
39:ca4dd3faffa8
First publish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 39:ca4dd3faffa8 1 #ifndef VECTOR_H
IceTeam 39:ca4dd3faffa8 2 #define VECTOR_H
IceTeam 39:ca4dd3faffa8 3
IceTeam 39:ca4dd3faffa8 4 template<class T>
IceTeam 39:ca4dd3faffa8 5 class elem {
IceTeam 39:ca4dd3faffa8 6 public:
IceTeam 39:ca4dd3faffa8 7 elem () { ; }
IceTeam 39:ca4dd3faffa8 8 elem (T nval) : val (nval) { next = NULL; prev = NULL; }
IceTeam 39:ca4dd3faffa8 9 elem (T nval, elem* nprev) : val (nval) { next = NULL; prev = nprev; }
IceTeam 39:ca4dd3faffa8 10
IceTeam 39:ca4dd3faffa8 11 elem<T> * gNext () { return next; }
IceTeam 39:ca4dd3faffa8 12 elem<T> * gprev () { return prev; }
IceTeam 39:ca4dd3faffa8 13 T& getVal () { return val; }
IceTeam 39:ca4dd3faffa8 14
IceTeam 39:ca4dd3faffa8 15 void sNext (elem<T> * nnext) { next = nnext; }
IceTeam 39:ca4dd3faffa8 16 void sPrev (elem<T> * nprev) { prev = nprev; }
IceTeam 39:ca4dd3faffa8 17
IceTeam 39:ca4dd3faffa8 18 private:
IceTeam 39:ca4dd3faffa8 19 T val;
IceTeam 39:ca4dd3faffa8 20 elem<T> * next;
IceTeam 39:ca4dd3faffa8 21 elem<T> * prev;
IceTeam 39:ca4dd3faffa8 22 };
IceTeam 39:ca4dd3faffa8 23
IceTeam 39:ca4dd3faffa8 24 template<class T>
IceTeam 39:ca4dd3faffa8 25 class nVector {
IceTeam 39:ca4dd3faffa8 26 public:
IceTeam 39:ca4dd3faffa8 27 nVector () {
IceTeam 39:ca4dd3faffa8 28 first = NULL;
IceTeam 39:ca4dd3faffa8 29 curr = NULL;
IceTeam 39:ca4dd3faffa8 30 init = false;
IceTeam 39:ca4dd3faffa8 31 VectorSize = 0;
IceTeam 39:ca4dd3faffa8 32 }
IceTeam 39:ca4dd3faffa8 33
IceTeam 39:ca4dd3faffa8 34 void push_back (T val) {
IceTeam 39:ca4dd3faffa8 35 if (init) {
IceTeam 39:ca4dd3faffa8 36 setCurrLast ();
IceTeam 39:ca4dd3faffa8 37 elem<T> * n = new elem<T> (val, curr);
IceTeam 39:ca4dd3faffa8 38 curr->sNext (n);
IceTeam 39:ca4dd3faffa8 39 n->sPrev (curr);
IceTeam 39:ca4dd3faffa8 40 VectorSize++;
IceTeam 39:ca4dd3faffa8 41 }
IceTeam 39:ca4dd3faffa8 42 else {
IceTeam 39:ca4dd3faffa8 43 init = true;
IceTeam 39:ca4dd3faffa8 44 first = new elem<T> (val);
IceTeam 39:ca4dd3faffa8 45 VectorSize = 1;
IceTeam 39:ca4dd3faffa8 46 }
IceTeam 39:ca4dd3faffa8 47 }
IceTeam 39:ca4dd3faffa8 48
IceTeam 39:ca4dd3faffa8 49 void push_first (T val) {
IceTeam 39:ca4dd3faffa8 50 if (init) {
IceTeam 39:ca4dd3faffa8 51 curr = first;
IceTeam 39:ca4dd3faffa8 52 elem<T> * n = new elem<T> (val);
IceTeam 39:ca4dd3faffa8 53 curr->sPrev (n);
IceTeam 39:ca4dd3faffa8 54 n->sNext (curr);
IceTeam 39:ca4dd3faffa8 55 first = n;
IceTeam 39:ca4dd3faffa8 56 VectorSize++;
IceTeam 39:ca4dd3faffa8 57 }
IceTeam 39:ca4dd3faffa8 58 else {
IceTeam 39:ca4dd3faffa8 59 init = true;
IceTeam 39:ca4dd3faffa8 60 first = new elem<T> (val);
IceTeam 39:ca4dd3faffa8 61 VectorSize = 1;
IceTeam 39:ca4dd3faffa8 62 }
IceTeam 39:ca4dd3faffa8 63 }
IceTeam 39:ca4dd3faffa8 64
IceTeam 39:ca4dd3faffa8 65 bool erase (int index) {
IceTeam 39:ca4dd3faffa8 66 bool worked = true;
IceTeam 39:ca4dd3faffa8 67
IceTeam 39:ca4dd3faffa8 68 if (init) {
IceTeam 39:ca4dd3faffa8 69 if (index > 0 && index < VectorSize) {
IceTeam 39:ca4dd3faffa8 70 if (setCurrIndex (index)) {
IceTeam 39:ca4dd3faffa8 71 elem<T>* p = curr->gprev ();
IceTeam 39:ca4dd3faffa8 72 if (p != NULL)
IceTeam 39:ca4dd3faffa8 73 p->sNext (curr->gNext ());
IceTeam 39:ca4dd3faffa8 74
IceTeam 39:ca4dd3faffa8 75 elem<T>* n = curr->gNext ();
IceTeam 39:ca4dd3faffa8 76 if (n != NULL)
IceTeam 39:ca4dd3faffa8 77 n->sPrev (p);
IceTeam 39:ca4dd3faffa8 78
IceTeam 39:ca4dd3faffa8 79 delete curr;
IceTeam 39:ca4dd3faffa8 80
IceTeam 39:ca4dd3faffa8 81 VectorSize--;
IceTeam 39:ca4dd3faffa8 82 if (VectorSize <= 0) {
IceTeam 39:ca4dd3faffa8 83 init = false;
IceTeam 39:ca4dd3faffa8 84 }
IceTeam 39:ca4dd3faffa8 85 }
IceTeam 39:ca4dd3faffa8 86 }
IceTeam 39:ca4dd3faffa8 87 else if (index == 0 && index < VectorSize) {
IceTeam 39:ca4dd3faffa8 88 elem<T> * n = first->gNext ();
IceTeam 39:ca4dd3faffa8 89
IceTeam 39:ca4dd3faffa8 90 if (n != NULL) {
IceTeam 39:ca4dd3faffa8 91 n->sPrev (NULL);
IceTeam 39:ca4dd3faffa8 92 delete first;
IceTeam 39:ca4dd3faffa8 93 first = n;
IceTeam 39:ca4dd3faffa8 94 VectorSize--;
IceTeam 39:ca4dd3faffa8 95 }
IceTeam 39:ca4dd3faffa8 96 else {
IceTeam 39:ca4dd3faffa8 97 init = false;
IceTeam 39:ca4dd3faffa8 98 delete first;
IceTeam 39:ca4dd3faffa8 99 VectorSize = 0;
IceTeam 39:ca4dd3faffa8 100 }
IceTeam 39:ca4dd3faffa8 101 }
IceTeam 39:ca4dd3faffa8 102 else {
IceTeam 39:ca4dd3faffa8 103 worked = false;
IceTeam 39:ca4dd3faffa8 104 }
IceTeam 39:ca4dd3faffa8 105 }
IceTeam 39:ca4dd3faffa8 106 else {
IceTeam 39:ca4dd3faffa8 107 worked = false;
IceTeam 39:ca4dd3faffa8 108 }
IceTeam 39:ca4dd3faffa8 109 return worked;
IceTeam 39:ca4dd3faffa8 110 }
IceTeam 39:ca4dd3faffa8 111
IceTeam 39:ca4dd3faffa8 112 void concatenate (nVector<T>& t) {
IceTeam 39:ca4dd3faffa8 113 for (int i = 0; i < t.size (); ++i)
IceTeam 39:ca4dd3faffa8 114 push_back (t[i]);
IceTeam 39:ca4dd3faffa8 115 }
IceTeam 39:ca4dd3faffa8 116
IceTeam 39:ca4dd3faffa8 117 int size () { return VectorSize; }
IceTeam 39:ca4dd3faffa8 118 bool empty () { return !init; }
IceTeam 39:ca4dd3faffa8 119
IceTeam 39:ca4dd3faffa8 120 T& operator[](int ind) {
IceTeam 39:ca4dd3faffa8 121 setCurrIndex (ind);
IceTeam 39:ca4dd3faffa8 122 return curr->getVal ();
IceTeam 39:ca4dd3faffa8 123 }
IceTeam 39:ca4dd3faffa8 124
IceTeam 39:ca4dd3faffa8 125 void show () {
IceTeam 39:ca4dd3faffa8 126 for (int i = 0; i < VectorSize; ++i) {
IceTeam 39:ca4dd3faffa8 127 setCurrIndex (i);
IceTeam 39:ca4dd3faffa8 128 std::cout << "(" << curr << ") Element " << i + 1 << " pere : " << curr->gprev() << ", fils " << curr->gNext () << std::endl;
IceTeam 39:ca4dd3faffa8 129 }
IceTeam 39:ca4dd3faffa8 130 }
IceTeam 39:ca4dd3faffa8 131 private:
IceTeam 39:ca4dd3faffa8 132 void setCurrLast () {
IceTeam 39:ca4dd3faffa8 133 if (init) {
IceTeam 39:ca4dd3faffa8 134 curr = first;
IceTeam 39:ca4dd3faffa8 135 while (curr->gNext () != NULL) {
IceTeam 39:ca4dd3faffa8 136 curr = curr->gNext ();
IceTeam 39:ca4dd3faffa8 137 }
IceTeam 39:ca4dd3faffa8 138 }
IceTeam 39:ca4dd3faffa8 139 }
IceTeam 39:ca4dd3faffa8 140
IceTeam 39:ca4dd3faffa8 141 bool setCurrIndex (int index) {
IceTeam 39:ca4dd3faffa8 142 curr = first;
IceTeam 39:ca4dd3faffa8 143 bool worked = true;
IceTeam 39:ca4dd3faffa8 144
IceTeam 39:ca4dd3faffa8 145 for (int i = 0; i < index; ++i) {
IceTeam 39:ca4dd3faffa8 146 if (curr->gNext () != NULL)
IceTeam 39:ca4dd3faffa8 147 curr = curr->gNext ();
IceTeam 39:ca4dd3faffa8 148 else {
IceTeam 39:ca4dd3faffa8 149 worked = false;
IceTeam 39:ca4dd3faffa8 150 break;
IceTeam 39:ca4dd3faffa8 151 }
IceTeam 39:ca4dd3faffa8 152 }
IceTeam 39:ca4dd3faffa8 153 return worked;
IceTeam 39:ca4dd3faffa8 154 }
IceTeam 39:ca4dd3faffa8 155
IceTeam 39:ca4dd3faffa8 156 elem<T>* first;
IceTeam 39:ca4dd3faffa8 157 elem<T>* curr;
IceTeam 39:ca4dd3faffa8 158
IceTeam 39:ca4dd3faffa8 159 bool init;
IceTeam 39:ca4dd3faffa8 160 int VectorSize;
IceTeam 39:ca4dd3faffa8 161 };
IceTeam 39:ca4dd3faffa8 162 #endif