#ifndef path_h #define path_h /* path.h */ /* guybrush - Eurobot 2012 AI. {{{ * * Copyright (C) 2012 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. * * }}} */ #include "defs.h" /** This implement a interface similar to the path module, but adapted for the * special grid of Eurobot 2012. See real path modules for interface comments. */ /** Infinite validity for an obstacle. */ #define PATH_OBSTACLE_VALID_ALWAYS 0xffff /** Clearance between obstacle and robot center, only used for grid * construction. */ #define PATH_GRID_CLEARANCE_MM (70 + BOT_SIZE_RADIUS) /** Shortcuts. */ #define PATH_TOTEM_CLEAR_MM (PG_TOTEM_WIDTH_MM / 2 + PATH_GRID_CLEARANCE_MM) #define PATH_PEANUT_CLEAR_MM (PG_PEANUT_RADIUS_MM + BOT_SIZE_RADIUS) /** 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 (void); 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); uint16_t path_get_score (); #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 */