int main()
{
camera_open();
ssp(SORT_SERVO,START);
ssp(RED_SERVO,RED_START);
ssp(GREEN_SERVO,GREEN_START);
wait_for_light(0);
start();
shut_down_in(119);
enable_servos();
msleep(5000);
reset();
right(47,0);
forward(35);
right(10,0);
backward(46);
full_sort();
other_side();
ssp(GREEN_SERVO,GREEN_DUMP);
msleep(1000);
ssp(GREEN_SERVO,GREEN_START);
msleep(250);
now();
ao();
disable_servos();
}
void shake() {
off(REVOLVE_MOTOR);
ao();
enable_servos();
int i;
for(i=0; i<20; i++){
ssp(0,1333);
msleep(170);
ssp(0,1260);
msleep(170);
}
disable_servos();
motor(REVOLVE_MOTOR, 100);
}
static void load_mmls(const Plugin& plugin, XML_Loader_SDL& loader)
{
ScopedSearchPath ssp(plugin.directory);
for (std::vector<std::string>::const_iterator it = plugin.mmls.begin();
it != plugin.mmls.end(); ++it)
{
FileSpecifier file;
file.SetNameWithPath(it->c_str());
loader.ParseFile(file);
}
}
void dance(){
int i=0;
enable_servos();
while(1){
if(i%6<3){
motor(MOT_LEFT, 40);
motor(MOT_RIGHT, 30);
}else{
motor(MOT_LEFT, -40);
motor(MOT_RIGHT, -30);
}
ssp(0,1133);
msleep(200);
ssp(0,1060);
msleep(200);
now();
i++;
}
disable_servos();
}
Item::this_type& Item::wait_state(State state, DWORD dwTimeout)
{
DWORD dwStartTime = ::GetTickCount();
while (true) {
Status ssp(get_status());
if (ssp.dwCurrentState == (DWORD)state)
break;
if (::GetTickCount() - dwStartTime > dwTimeout)
CheckApiError(WAIT_TIMEOUT);
::Sleep(500);
};
return *this;
}
int CPointsCollection::EditPoint(int index, double x, double y, BOOL bRescan)
{
if (index<0 || index>=GetSize()) return -1;
int ret;
SSinglePoint ssp(x, y);
//if bSortX not specified - just replace given point
RemovePoint(index, FALSE);
if (!bSortX)
{
InsertPoint(index, ssp.x, ssp.y, bRescan);
ret = index;
} else
{
int res;
ret = AddPoint(&ssp, bRescan, &res);
};
return ret;
}
int CPointsCollection::InsertPoint(int index, double x, double y, BOOL bRescan)
{
if (index<0 || index>GetSize()) return -1;
SSinglePoint ssp(x, y);
int res, ret;
if (index == GetSize())
{ //this is just append point
ret = AddPoint(&ssp, bRescan, &res);
} else
{
if (!bSortX)
{
points.insert(points.begin() + index, ssp);
if (bRescan) RescanPoints();
ret = index;
} else
{
ret = AddPoint(&ssp, bRescan, &res);
};
};
return ret;
}
int main()
{
clock_t startTime, endTime;
double duration;
startTime = clock();
vector<int> mp = { 1,3, 4 }; //必须经过的顶点集合
const int size = 5;
vector<vector<int> > graph(size);
for (int i = 0; i < size; ++i) {
graph[i].resize(size);
}
for (int i = 0; i < size; ++i) {
for (int j = 0; j < size; ++j) {
graph[i][j] = -1;
}
}
/*graph[0][1] = 2;
graph[0][2] = 3;
graph[0][3] = 4;
graph[1][2] = 3;
graph[1][5] = 2;
graph[1][4] = 7;
graph[2][5] = 9;
graph[2][6] = 2;
graph[3][6] = 2;
graph[4][7] = 3;
graph[4][8] = 3;
graph[5][6] = 1;
graph[5][8] = 3;
graph[6][9] = 1;
graph[6][8] = 5;
graph[7][10] = 3;
graph[8][10] = 2;
graph[9][8] = 2;
graph[9][10] = 2;*/
graph[0][4] = 3;
graph[4][1] = 2;
graph[1][2] = 5;
graph[2][4] = 6;
graph[3][1] = 1;
graph[1][3] = 3;
ss_shortest_paths ssp(graph); //10是结束顶点，起始顶点是0
int start_node = 0, end_node = 3;
//ssp.shortest_paths(mp, 0, 3);
/*ssp.shortest_paths(mp, 2, 5);
ssp.shortest_paths(mp, 5, 6);
ssp.shortest_paths(mp, 6, 8);
ssp.shortest_paths(mp, mp[mp.size()-1], end_node);*/
if (ssp.judgeNA(mp, start_node, end_node) == false)
printf_s("NA\n");
else
printf_s("NO NA\n");
//ssp.print_spaths();
/*计算花费的时间*/
endTime = clock();
duration = (double)(endTime - startTime) / CLOCKS_PER_SEC;
cout << "times use: " << duration << endl;
return 0;
}
int CPointsCollection::AddPoint(double _x, double _y, BOOL bReScan, int* res)
{
int index;
//adjust max and min
if (GetSize() == 0)
{
max_x = min_x = _x;
max_y = min_y = _y;
} else
{
if (max_x<_x) max_x = _x;
if (min_x>_x) min_x = _x;
if (max_y<_y) max_y = _y;
if (min_y>_y) min_y = _y;
};
SSinglePoint ssp(_x, _y);
SSinglePoint spoint;
long array_size = GetSize();
if (!bSortX)
{//if there is no sort - just add the point to the end of array
points.push_back(ssp);
index = array_size;
} else
{
//find the place for new element
if (array_size == 0)
{
points.push_back(ssp);
index = array_size;
} else
{
//check lower bound
GetPoint(0, &spoint);
if (_x<spoint.x)
{
index = 0;
points.insert(points.begin() + index, ssp);
} else
{
//check upper bound
GetPoint(array_size-1, &spoint);
if (_x>spoint.x)
{
points.push_back(ssp);
index = array_size;
} else
{
index = 0;
BOOL bFit = FALSE;
for (int i=0; i<array_size; i++)
{
GetPoint(i, &spoint);
if (spoint.x == _x)
{
index = i;
bFit = TRUE;
break;
};
if (_x<spoint.x)
{
index = i;
break;
};
};
if (bFit)
{
if (bKeepSameX)
{
points.insert(points.begin() + index, ssp);
} else
{
RemovePoint(index, FALSE);//do not rescan right away - cause we add one more point right after
points.insert(points.begin() + index, ssp);
//need to recalculate extremums
if (bReScan) RescanPoints();
};
} else
{
//just insert point before index
points.insert(points.begin() + index, ssp);
};
};
};
};
};
return index;
}
