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Implementing MasterpathPlanning :)

I am now underway re-implementing Master(path)Planning , you can view the source from here

http://github.com/AmmarkoV/RoboVision/tree/master/WorldMapping/MasterpathPlanning/

The functions exposed to the rest of RoboVision project will be

Code:

struct Map * CreateMap(unsigned int world_size_x,unsigned int world_size_y);
struct Map * LoadMap(char * filename) ;
int SaveMap(struct Map * world) ;
int DeleteMap(struct Map * world) ;
int SetMapUnit_In_cm(struct Map * world,unsigned int cm_per_unit) ;
int MapIsOk(struct Map * themap);
int ObstacleExists(struct Map * world,unsigned int x,unsigned int y) ;
int SetObstacle(struct Map * world,unsigned int x,unsigned int y,unsigned int safety_radious) ;
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
int SetAgentSize(struct Map * world,unsigned int agentnum,unsigned int x_size,unsigned int y_size) ;
int SetAgentHeading(struct Map * world,unsigned int agentnum,unsigned int heading) ;
unsigned int GetAgentHeading(struct Map * world,unsigned int agentnum) ;
int SetAgentLocation(struct Map * world,unsigned int agentnum,unsigned int x,unsigned int y) ;
int SetAgentLocationName(struct Map * world,unsigned int agentnum,char * name) ;
int GetAgentLocation(struct Map * world,unsigned int agentnum,unsigned int * x,unsigned int * y) ;
int SetAgentTargetLocation(struct Map * world,unsigned int agentnum,unsigned int x,unsigned int y) ;
int SetAgentTargetLocationName(struct Map * world,unsigned int agentnum,char * name) ;
int MoveAgentForward(struct Map * world,unsigned int agentnum,int leftwheel_cm,int rightwheel_cm) ;
int SetObstacleSensedbyAgent(struct Map * world,unsigned int agentnum,int ultrasonic_left_cm,int ultrasonic_right_cm) ;
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
int FindPath(struct Map * world,unsigned int agentnum) ;
int FindPathToPosition(struct Map * world,unsigned int agentnum,unsigned int x,unsigned int y) ;
int FindSponteneousPath(struct Map * world,unsigned int agentnum,struct Path * thepath,unsigned int x1,unsigned int y1,unsigned int x2,unsigned int y2) ;
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
int AddLocation(struct Map * world,char * name,unsigned int pos_x,unsigned int pos_y) ;
int DeleteLocation_Number(struct Map * world,unsigned int position_id) ;
int DeleteLocation(struct Map * world,char * name) ;
/*<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
int ExtractRouteToLogo(struct Map * world,struct Path * thepath,char * filename) ;
int GetRoutePoints(struct Map * world,struct Path * thepath) ;
int GetRouteWaypoint(struct Map * world,struct Path * thepath,unsigned int *x,unsigned int *y) ;

This entry was posted on October 3rd, 2010 at 04:19:52 am by admin and is filed under Background.