navigation updated with completed dijkstra's algo
Dependents: R5 2016 Robotics Team 1
navigation.h
- Committer:
- j_j205
- Date:
- 2016-04-06
- Revision:
- 6:d2da4d4b5112
- Parent:
- 5:d0954e0aecc9
- Child:
- 7:f7489797746b
File content as of revision 6:d2da4d4b5112:
#ifndef NAVIGATION_H #define NAVIGATION_H #include "StepperDrive.h" #include "LongRangeSensor.h" #include "stdint.h" #include "mbed.h" #include <vector> #include <stack> class Navigation { public: Navigation(Serial &_pc, StepperDrive &_drive, LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, DigitalOut &_led_red, DigitalOut &_led_green, int size); void addGraphNode(uint8_t src, uint8_t target, float dist, float angle); void addGraphNode(uint8_t src); int graphSize() { return graph.size(); } uint8_t getVertex() { return vertex; } float getAngle() { return angle; } void setVertex(uint8_t target) { vertex = target; } void setAngle(float target) { angle = target; } int numNeighbors(int src) { return graph[src].size(); } int loadMap(char* inputFile); void getShortestPath(uint8_t destination); void executeRoute(); void localizeRight(); void localizeLeft(); void localizeRightReverse(); void localizeLeftReverse(); // utility functions float getMinDist(uint8_t 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 uint8_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; Serial &pc; StepperDrive &drive; LongRangeSensor &longRangeL; LongRangeSensor &longRangeR; DigitalOut &led_red; DigitalOut &led_green; float distLocalL; float distLocalR; uint8_t vertex; // current vertex float angle; // current angle struct graphNode { uint8_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<uint8_t> route; }; #endif // NAVIGATION_H