navigation updated with completed dijkstra's algo
Dependents: R5 2016 Robotics Team 1
navigation.h
- Committer:
- j_j205
- Date:
- 2016-03-21
- Revision:
- 5:d0954e0aecc9
- Parent:
- 4:a5d44517c65c
- Child:
- 6:d2da4d4b5112
File content as of revision 5:d0954e0aecc9:
#ifndef NAVIGATION_H #define NAVIGATION_H #include "StepperDrive.h" #include "scanner.h" #include "stdint.h" #include "mbed.h" #include <vector> #include <stack> class Navigation { public: Navigation(Scanner& _scanner, int size); void addGraphNode(uint16_t src, uint16_t target, float dist, float angle); void addGraphNode(uint16_t src); int graphSize() { return graph.size(); } uint16_t getVertex() { return vertex; } float getAngle() { return angle; } void setVertex(uint16_t target) { vertex = target; } void setAngle(float target) { angle = target; } int numNeighbors(int src) { return graph[src].size(); } int loadMap(char* inputFile); void getShortestPath(uint16_t destination); void executeRoute(Serial &pc, StepperDrive &drive); // utility functions uint16_t getMinDist(float target) { return minDistance[target]; } void printPrevious(Serial &pc); void printRoute(Serial &pc); void printGraph(Serial &pc); private: static const float MAX_DIST = 65535; // infinity static const uint16_t DEFAULT_VERTEX = 0; static const float DEFAULT_ANGLE = 0.0; 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 struct graphNode { uint16_t neighbor; float distance; // in inches float angle; graphNode(float arg_neighbor = MAX_DIST, float arg_distance = MAX_DIST, float arg_angle = MAX_DIST) : neighbor(arg_neighbor), distance(arg_distance), angle(arg_angle){} }; std::vector<std::vector<graphNode> > graph; std::vector<float> minDistance; std::vector<int> previous; std::stack<uint16_t> route; }; #endif // NAVIGATION_H