chemin.h

00001 #ifndef CHEMIN_H
00002 #define CHEMIN_H
00003 // C code to implement Priority Queue 
00004 // using Linked List 
00005 // https://www.geeksforgeeks.org/priority-queue-using-linked-list/
00006 
00007 // C code for path fining 
00008 // https://github.com/AtsushiSakai/PythonRobotics
00009 
00010 //Exemple: 
00011 /*
00012 int vitesse_deplacement = 200;
00013 
00014 calc_distances(20,180,270,180);   //x_départ , y_arrivée , x_arrivée, y_arrivée
00015 Node* commandes = (Node*)malloc(sizeof(Node));
00016 commandes = traduction_points_commandes(trouver_chemin(20,180,270,180)); 
00017 while(!isEmpty(&commandes)){ 
00018     int angle,distance_avancement_cm,_ = 0;
00019     peek(&commandes,&angle,&distance_avancement_cm,&_);     //on recupere les infos du point
00020     pop(&commandes);
00021     printf("rotation %d, avancement de %d\n",angle,distance_avancement_cm);
00022     if(distance_avancement_cm != 0 && angle != 0) {
00023         test_ligne_droite(10*distance_avancement_cm, vitesse_deplacement); 
00024         test_rotation_rel(angle,vitesse_deplacement);
00025     }
00026 }
00027 */
00028 
00029 
00030 #include <stdio.h>
00031 #include <stdlib.h> 
00032 #include <time.h>
00033 
00034 
00035 
00036   
00037 // Node 
00038 typedef struct node { 
00039     int x;
00040     int y;
00041     int distance; 
00042   
00043     // Lower values indicate higher priority 
00044     int priority; 
00045   
00046     struct node* next; 
00047   
00048 } Node; 
00049   
00050 // Function to Create A New Node 
00051 Node* newNode(int x , int y, int distance, int p);
00052   
00053 // Return the value at head 
00054 void peek(Node** head, int*x, int*y, int*distance);
00055   
00056 // Removes the element with the 
00057 // highest priority form the list 
00058 void pop(Node** head);
00059 
00060 // Function to push according to priority 
00061 void push(Node** head, int x, int y, int distance, int p);
00062 
00063 // Function to check is list is empty 
00064 int isEmpty(Node** head);
00065 
00066 
00067 void calc_distances(int ox, int oy, int gx , int gy); //ogigine, goal
00068 
00069 Node* trouver_chemin(int ox, int oy, int gx , int gy); //retourne une suite de points ,  du point de départ au point d'arrivé en évitant les obstacles
00070 
00071 Node* traduction_points_commandes(Node* pq);
00072 
00073 void afficher_terrain();
00074 void afficher_terrain(Node* commandes);
00075 
00076 int conversion_codage_angles(int o);
00077 
00078 
00079 void aller_a_point(int ox , int oy, int gx , int gy , int vitesse_deplacement = 100);
00080 
00081 #endif
00082 
00083