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authorNicolas Schodet2010-04-27 00:17:36 +0200
committerNicolas Schodet2010-04-27 00:17:36 +0200
commit3de803b964643fbc8480fd3c0133df77e324ef27 (patch)
tree92a56a0a6fde1393112ccc2cd3d4e54f3e4dcaa9 /digital/io/src/path.h
parent9eb335408b60d4e7efadbbd65268ef2b3a5bb328 (diff)
digital/io/src: use A* algorithm to nagivate between elements
Diffstat (limited to 'digital/io/src/path.h')
-rw-r--r--digital/io/src/path.h78
1 files changed, 78 insertions, 0 deletions
diff --git a/digital/io/src/path.h b/digital/io/src/path.h
new file mode 100644
index 00000000..0292c992
--- /dev/null
+++ b/digital/io/src/path.h
@@ -0,0 +1,78 @@
+#ifndef path_h
+#define path_h
+/* path.h - Path finding for Eurobot 2010. */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/** This implement a interface similar to the path module, but adapted for the
+ * special grid of Eurobot 2010. See real path modules for interface comments. */
+
+/** Infinite validity for an obstacle. */
+#define PATH_OBSTACLE_VALID_ALWAYS 0xffff
+
+/** Obstacle. */
+struct path_obstacle_t
+{
+ /** Center. */
+ vect_t c;
+ /** Radius. */
+ uint16_t r;
+ /** Validity counter, when this is zero, the obstacle is ignored. */
+ uint16_t valid;
+};
+
+void
+path_init (int16_t border_xmin, int16_t border_ymin,
+ int16_t border_xmax, int16_t border_ymax);
+
+void
+path_endpoints (vect_t s, vect_t d);
+
+void
+path_escape (uint8_t factor);
+
+void
+path_obstacle (uint8_t i, vect_t c, uint16_t r, uint8_t factor,
+ uint16_t valid);
+
+void
+path_decay (void);
+
+void
+path_update (void);
+
+uint8_t
+path_get_next (vect_t *p);
+
+#if AC_PATH_REPORT
+
+/** Report computed path. */
+void
+AC_PATH_REPORT_CALLBACK (vect_t *points, uint8_t len,
+ struct path_obstacle_t *obstacles,
+ uint8_t obstacles_nb);
+
+#endif
+
+#endif /* path_h */