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-rw-r--r--digital/io-hub/src/common-cc/path.hh52
1 files changed, 21 insertions, 31 deletions
diff --git a/digital/io-hub/src/common-cc/path.hh b/digital/io-hub/src/common-cc/path.hh
index beb3a3e5..d673d0cf 100644
--- a/digital/io-hub/src/common-cc/path.hh
+++ b/digital/io-hub/src/common-cc/path.hh
@@ -25,8 +25,7 @@
//
// }}}
#include "defs.hh"
-#include "playground_2013.hh"
-
+#include "playground.hh"
extern "C" {
#include "modules/path/astar/astar.h"
}
@@ -58,9 +57,9 @@ class Path
{
public:
/** Initialise path */
- Path();
- /** Reset path computation, remove every obstacles */
- void reset(void);
+ Path(const uint16_t, const uint16_t, const uint16_t, const uint16_t);
+ /** Reset path computation, remove mobile obstacles, add static obstacles */
+ virtual void reset(void);
/** Set a moving obstacle position, radius and factor*/
void obstacle(const int index, const vect_t &c, const uint16_t r, const int f = 0, const bool target = false);
/** Set path source and destination */
@@ -82,28 +81,30 @@ class Path
(also reuse previously given escape factor) */
weight_t get_score(const vect_t &dst);
- private:
+ protected:
/** Add an obstacle on the field */
void add_obstacle(const vect_t &c, uint16_t r, int nodes, const int nlayers, const uint16_t clearance, const bool target);
-
- /** Number of possible obstacles. */
- static const int PATH_OBSTACLES_NB = (4+1/*cake*/);
+ /** Number of possible mobile obstacles. */
+ static const int PATH_OBSTACLES_NB = 4;
/** Number of points per standard obstacle. */
static const int PATH_OBSTACLES_NAVPOINTS_NB = 10;
-#ifdef playground_2013_hh
- /** Number of points for the cake (plus 1) */
- static const int PATH_CAKE_NAVPOINTS_NB = 6;
-#endif
- /** Number of navigation points layers for the cake. */
- static const int PATH_CAKE_NAVPOINTS_LAYERS = 1;
/** Number of navigation points layers for each obstacle. */
static const int PATH_OBSTACLES_NAVPOINTS_LAYERS = 2;
/** Number of navigation points. */
- static const int PATH_NAVPOINTS_NB = (PATH_RESERVED_NAVPOINTS_NB +
-#ifdef playground_2013_hh
- PATH_CAKE_NAVPOINTS_LAYERS * (PATH_CAKE_NAVPOINTS_NB - PATH_OBSTACLES_NAVPOINTS_NB) +
-#endif
- PATH_OBSTACLES_NAVPOINTS_LAYERS * (PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB));
+ static const int PATH_NAVPOINTS_NB =
+ (PATH_RESERVED_NAVPOINTS_NB + PATH_OBSTACLES_NAVPOINTS_LAYERS * PATH_OBSTACLES_NB * PATH_OBSTACLES_NAVPOINTS_NB);
+ /** Borders, any point outside borders is eliminated. */
+ const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;
+ /** List of obstacles. */
+ path_obstacle_t* obstacles;
+ /** List of navigation points coordonates */
+ vect_t* navpoints;
+ /** List of navigation points weights */
+ weight_t* navweights;
+ /** List of nodes used for A*. */
+ struct astar_node_t* astar_nodes;
+
+ private:
/** Navigation points weight precision (2^-n).
* Pay attention to overflow on weight_t variables */
static const int PATH_WEIGHT_PRECISION = 4;
@@ -115,23 +116,12 @@ class Path
/** Extra clearance area added to the radius of the navigation points
* circle to move the navpoints away from the obstacle circle */
static const uint16_t PATH_NAVPOINTS_CLEARANCE = 40;
-
- /** Borders, any point outside borders is eliminated. */
- const uint16_t border_xmin, border_ymin, border_xmax, border_ymax;
/** Escape factor, 0 if none. */
weight_t escape_factor;
- /** List of obstacles. */
- path_obstacle_t obstacles[PATH_OBSTACLES_NB];
/** Number of obstacles */
int obstacles_nb;
- /** List of navigation points coordonates */
- vect_t navpoints[PATH_NAVPOINTS_NB];
- /** List of navigation points weights */
- weight_t navweights[PATH_NAVPOINTS_NB];
/** Number of navigation points */
int navpoints_nb;
- /** List of nodes used for A*. */
- struct astar_node_t astar_nodes[PATH_NAVPOINTS_NB];
/** Which node to look at for next step. */
uint8_t next_node;
/** TRUE when a path has been found */