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// test_map_graph.cc
// 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 "map_graph.h"

#include <iostream>
#include <exception>
#include <cstdlib>

void
syntax (void)
{
    std::cout << "test_map_graph - Teste MapGraph.\n"
	" o <x> <y> <r>  place un obstacle.\n"
	" s <steps>      change le nombre de pas de l'algo."
	<< std::endl;
}

int
main (int argc, char **argv)
{
    try
      {
	Path::MapGraph mg (Point (0, 0), Point (300, 300));
	int i = 1;
	int steps = -1;
	int x, y, r;
	while (i < argc)
	  {
	    switch (argv[i][0])
	      {
	      case 'o':
		i++;
		if (i >= argc) break;
		x = atoi (argv[i++]);
		if (i >= argc) break;
		y = atoi (argv[i++]);
		if (i >= argc) break;
		r = atoi (argv[i++]);
		mg.add (Point (x, y), r);
		break;
	      case 's':
		i++;
		if (i >= argc) break;
		steps = atoi (argv[i++]);
		break;
	      default:
	      case '?':
		i++;
		syntax ();
		return 0;
	      }
	  }
	mg.setGoal (Point ());
	mg.placePoints ();
	mg.buildGraph ();
	mg.findPath (steps);
	std::cout << mg << std::endl;
	return 0;
      }
    catch (const std::exception &e)
      {
	std::cerr << e.what () << std::endl;
	return 1;
      }
}