From 3de803b964643fbc8480fd3c0133df77e324ef27 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 27 Apr 2010 00:17:36 +0200 Subject: digital/io/src: use A* algorithm to nagivate between elements --- digital/io/src/path.h | 78 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 digital/io/src/path.h (limited to 'digital/io/src/path.h') 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 */ -- cgit v1.2.3