navigation updated with completed dijkstra's algo
Dependents: R5 2016 Robotics Team 1
navigation.h@1:a53d97b74fab, 2015-11-22 (annotated)
- Committer:
- j_j205
- Date:
- Sun Nov 22 19:32:45 2015 +0000
- Revision:
- 1:a53d97b74fab
- Parent:
- 0:fd72f6df078c
- Child:
- 2:17bd430aeca1
jj 1/22/15;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j_j205 | 0:fd72f6df078c | 1 | #ifndef NAVIGATION_H |
j_j205 | 0:fd72f6df078c | 2 | #define NAVIGATION_H |
j_j205 | 1:a53d97b74fab | 3 | #include "StepperMotor.h" |
j_j205 | 1:a53d97b74fab | 4 | #include "stdint.h" |
j_j205 | 1:a53d97b74fab | 5 | #include "mbed.h" |
j_j205 | 0:fd72f6df078c | 6 | #include <vector> |
j_j205 | 0:fd72f6df078c | 7 | #include <stack> |
j_j205 | 0:fd72f6df078c | 8 | |
j_j205 | 0:fd72f6df078c | 9 | class Navigation |
j_j205 | 0:fd72f6df078c | 10 | { |
j_j205 | 0:fd72f6df078c | 11 | public: |
j_j205 | 0:fd72f6df078c | 12 | Navigation(int size); |
j_j205 | 0:fd72f6df078c | 13 | void addGraphNode(uint16_t src, uint16_t target, uint16_t dist, |
j_j205 | 0:fd72f6df078c | 14 | uint16_t angle); |
j_j205 | 0:fd72f6df078c | 15 | void addGraphNode(uint16_t src); |
j_j205 | 0:fd72f6df078c | 16 | int graphSize() { return graph.size(); } |
j_j205 | 0:fd72f6df078c | 17 | uint16_t getVertex() { return vertex; } |
j_j205 | 0:fd72f6df078c | 18 | uint16_t getAngle() { return angle; } |
j_j205 | 0:fd72f6df078c | 19 | void setVertex(uint16_t target) { vertex = target; } |
j_j205 | 0:fd72f6df078c | 20 | int numNeighbors(int src) { return graph[src].size(); } |
j_j205 | 0:fd72f6df078c | 21 | int loadMap(char* inputFile); |
j_j205 | 0:fd72f6df078c | 22 | void getShortestPath(uint16_t destination); |
j_j205 | 0:fd72f6df078c | 23 | uint16_t getMinDist(uint16_t target) { return minDistance[target]; } |
j_j205 | 1:a53d97b74fab | 24 | void executeRoute(StepperMotor &leftMotor, StepperMotor &rightMotor); |
j_j205 | 0:fd72f6df078c | 25 | // utility functions |
j_j205 | 0:fd72f6df078c | 26 | void printPrevious(Serial &pc); |
j_j205 | 0:fd72f6df078c | 27 | void printRoute(Serial &pc); |
j_j205 | 0:fd72f6df078c | 28 | void printGraph(Serial &pc); |
j_j205 | 0:fd72f6df078c | 29 | |
j_j205 | 0:fd72f6df078c | 30 | private: |
j_j205 | 0:fd72f6df078c | 31 | static const uint16_t MAX_DIST = 65535; // infinity |
j_j205 | 0:fd72f6df078c | 32 | static const uint16_t DEFAULT_VERTEX = 0; |
j_j205 | 0:fd72f6df078c | 33 | static const uint16_t DEFAULT_ANGLE = 0; |
j_j205 | 0:fd72f6df078c | 34 | static const int DEFAULT_SIZE = 1; |
j_j205 | 1:a53d97b74fab | 35 | static const int STEPS_PER_INCH = 20; // per wheel diameter and stepper specs |
j_j205 | 0:fd72f6df078c | 36 | |
j_j205 | 1:a53d97b74fab | 37 | uint16_t vertex; // current vertex |
j_j205 | 1:a53d97b74fab | 38 | uint16_t angle; // current angle |
j_j205 | 0:fd72f6df078c | 39 | |
j_j205 | 0:fd72f6df078c | 40 | struct graphNode |
j_j205 | 0:fd72f6df078c | 41 | { |
j_j205 | 0:fd72f6df078c | 42 | uint16_t neighbor; |
j_j205 | 1:a53d97b74fab | 43 | uint16_t distance; // in inches |
j_j205 | 0:fd72f6df078c | 44 | uint16_t angle; |
j_j205 | 0:fd72f6df078c | 45 | graphNode(uint16_t arg_neighbor = MAX_DIST, |
j_j205 | 0:fd72f6df078c | 46 | uint16_t arg_distance = MAX_DIST, |
j_j205 | 0:fd72f6df078c | 47 | uint16_t arg_angle = MAX_DIST) |
j_j205 | 0:fd72f6df078c | 48 | : neighbor(arg_neighbor), distance(arg_distance), angle(arg_angle){} |
j_j205 | 0:fd72f6df078c | 49 | }; |
j_j205 | 0:fd72f6df078c | 50 | |
j_j205 | 0:fd72f6df078c | 51 | std::vector<std::vector<graphNode> > graph; |
j_j205 | 0:fd72f6df078c | 52 | std::vector<uint16_t> minDistance; |
j_j205 | 0:fd72f6df078c | 53 | std::vector<int> previous; |
j_j205 | 0:fd72f6df078c | 54 | std::stack<uint16_t> route; |
j_j205 | 0:fd72f6df078c | 55 | }; |
j_j205 | 0:fd72f6df078c | 56 | |
j_j205 | 0:fd72f6df078c | 57 | #endif // NAVIGATION_H |
j_j205 | 0:fd72f6df078c | 58 | |
j_j205 | 0:fd72f6df078c | 59 |