navigation updated with completed dijkstra's algo
Dependents: R5 2016 Robotics Team 1
Diff: navigation.h
- Revision:
- 5:d0954e0aecc9
- Parent:
- 4:a5d44517c65c
- Child:
- 6:d2da4d4b5112
--- a/navigation.h Tue Feb 23 23:36:03 2016 +0000 +++ b/navigation.h Mon Mar 21 01:32:00 2016 +0000 @@ -1,6 +1,7 @@ #ifndef NAVIGATION_H #define NAVIGATION_H #include "StepperDrive.h" +#include "scanner.h" #include "stdint.h" #include "mbed.h" #include <vector> @@ -9,7 +10,7 @@ class Navigation { public: - Navigation(int size); + Navigation(Scanner& _scanner, int size); void addGraphNode(uint16_t src, uint16_t target, float dist, float angle); void addGraphNode(uint16_t src); @@ -35,6 +36,7 @@ static const int DEFAULT_SIZE = 1; //static const int STEPS_PER_INCH = 20; // per wheel diameter and stepper specs static const float PI = 3.14159; + Scanner& scanner; uint16_t vertex; // current vertex float angle; // current angle