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+#ifndef map_segm_h
+#define map_segm_h
+// map_segm.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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.
+//
+// }}}
+
+#include <vector>
+#include <iostream>
+
+namespace Path {
+
+/// Carte de path finding.
+class MapSegm
+{
+ /// Limites des cases.
+ int minx_, miny_, maxx_, maxy_;
+ typedef std::vector<int> MapLimits;
+ MapLimits mapLimitsX_, mapLimitsY_;
+ /// Contenu des cases.
+ typedef std::vector<int> MapRow;
+ typedef std::vector<MapRow> MapCells;
+ MapCells mapCells_;
+ public:
+ /// Constructeur.
+ MapSegm (int minx, int miny, int maxx, int maxy);
+ /// Place un obstacle (mm).
+ void putObstacle (int minx, int miny, int maxx, int maxy);
+ /// Sort sur std::ostream.
+ friend std::ostream &operator<< (std::ostream &os, const Map &m);
+ protected:
+ /// Split la carte à une colonne donnée.
+ void splitCol (int col, int x);
+ /// Split la carte à une ligne donnée.
+ void splitRow (int row, int y);
+ /// Trouve la colonne correspondante à une abscisse (mm).
+ int findCol (int x) const;
+ /// Trouve la ligne correspondante à une ordonnée (mm).
+ int findRow (int y) const;
+};
+
+/// Sort sur std::ostream.
+std::ostream &operator<< (std::ostream &os, const MapSegm &m);
+
+} // namespace Path
+
+#endif // map_segm_h