int Point::directionAdjacent(Point &a, Point &b)
{
int diff_col = a.GetCol() - b.GetCol();
int diff_row = a.GetRow() - b.GetRow();
char ret;
char directionTable[3][3] = { {5,6,7}, {4,0,8}, {3,2,1}};
if (diff_col > 1 || diff_row > 1)
return -1;
else
{
ret = directionTable[diff_row+1][diff_col+1];
return ret;
}
}
int main()
{
// Read the configuration file
ConfigManager::ReadParameters();
// Read and inflate map
const char* mapurl = ConfigManager::GetMapUrl().erase(ConfigManager::GetMapUrl().size() - 1).c_str();
Map* currMap = LoadMap(mapurl);
int robotSize = MAX(ConfigManager::GetRobotHeight(),ConfigManager::GetRobotWidth());
double mapResulotion = ConfigManager::GetMapResolution();
int InflateAddition = ceil((robotSize / 2) / mapResulotion);
Map* inflateMap = currMap->Inflate(InflateAddition);
Map* Maparticle = currMap->Inflate(5);
// Calculate the ratio between the grid resolution and map resolution
int res = ConfigManager::GetGridResolution() / ConfigManager::GetMapResolution();
Grid* grid = new Grid(inflateMap->GetMatrix(),inflateMap->GetWidth(),inflateMap->GetHeight(), res);
// A*
PathPlanner* p = new PathPlanner();
Point* start = ConfigManager::GetStartLocationMapResolution();
Point* end = ConfigManager::GetGoalMapResolution();
int startGridPointX,startGridPointY, endGridPointX, endGridPointY;
startGridPointX = start->GetRow() / res;
startGridPointY = start->GetCol() / res;
endGridPointX = end->GetRow() / res;
endGridPointY = end->GetCol() / res;
std::string route = p->pathFind(startGridPointX ,startGridPointY,endGridPointX,endGridPointY,grid);
// WayPoint calculation
Point* startWithRes = new Point(start->GetRow() / 4, start->GetCol() / 4);
vector<Point *> waypointsArr = WayPoints::CalculateByDirectionalPath(route, startWithRes);
Robot robot("localhost",6665);
PlnObstacleAvoid plnOA(&robot);
Manager manager(&robot, &plnOA, waypointsArr, Maparticle);
manager.run();
}