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Commit 9e3ac14a authored by Federico Ciuffardi's avatar Federico Ciuffardi Committed by Romina Julieta Parada Venossa
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parent 1864284c
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src/lib/GVD/GVDC.cpp
View file @ 9e3ac14a
......@@ -100,7 +100,7 @@ vector<pos> neighbor = {pos(-1, -1), pos(-1, 0), pos(-1, 1), pos(0, 1),
/* returns the dist_grid corresponding to the original grid, relative to
* Occupide or Critical (from_type) */
boost::tuple<dist_grid, dist_pos_queue> calculate_distances(grid_type ogrid, cell_type from_type) {
boost::tuple<dist_grid, dist_pos_queue> calculate_distances(grid ogrid, cell_type from_type) {
// get grid size
pair<int, int> size = get_grid_size(ogrid);
......@@ -182,7 +182,7 @@ boost::tuple<dist_grid, dist_pos_queue> calculate_distances(grid_type ogrid, cel
return boost::make_tuple(dgrid, full_dqueue);
}
boost::tuple<boost::unordered_map<pos, pos>, pos> find_paths_to_gvd(grid_type ogrid,
boost::tuple<boost::unordered_map<pos, pos>, pos> find_paths_to_gvd(grid ogrid,
VecGVD gvd,
pos p_pos) {
// get grid size
......@@ -431,7 +431,7 @@ void clean_up(GVD& gvd, dist_grid dgrid, int min_deg) {
}
}
int degree_constraint(grid_type& ogrid, GVD& gvd, boost::unordered_map<pos, bool> local_mins) {
int degree_constraint(grid& ogrid, GVD& gvd, boost::unordered_map<pos, bool> local_mins) {
int criticals_count = 0;
pos current_pos;
for (auto vp = vertices(gvd.g); vp.first != vp.second; ++vp.first) {
......@@ -466,7 +466,7 @@ int degree_constraint(grid_type& ogrid, GVD& gvd, boost::unordered_map<pos, bool
return criticals_count;
}
/*boost::unordered_map<pos, dist_pos> unknown_dist_constraint(grid_type ogrid, GVD& gvd, int
/*boost::unordered_map<pos, dist_pos> unknown_dist_constraint(grid ogrid, GVD& gvd, int
criticals_count) { dist_grid dgrid; dist_pos_queue dqueue; boost::unordered_map<pos, dist_pos>
critical_with_frontier; boost::tie(dgrid, dqueue) = calculate_distances(ogrid, Critical); while
(criticals_count > 0 && !dqueue.empty()) { dist_pos frontier_dp = dqueue.top(); dqueue.pop(); pos
......@@ -485,7 +485,7 @@ critical_pos = cell(dgrid, frontier_dp.second).obs[0]; GVD::Vertex cv = gvd.posi
}*/
// Returns two maps : criticals -> frontiers, criticals-> min dis to frontier, segments gvd
criticals_info unknown_dist_constraint2(grid_type ogrid, GVD& gvd) {
criticals_info unknown_dist_constraint2(grid ogrid, GVD& gvd) {
dist_grid dgrid;
dist_pos_queue dqueue;
criticals_info res;
......@@ -532,7 +532,7 @@ criticals_info unknown_dist_constraint2(grid_type ogrid, GVD& gvd) {
return res;
}
criticals_info get_critical_points(grid_type ogrid, dist_grid dg, GVD& gvd) {
criticals_info get_critical_points(grid ogrid, dist_grid dg, GVD& gvd) {
boost::unordered_map<pos, bool> local_mins = get_local_mins(dg, gvd);
cout << "debug :: clean_up" << endl;
// TODO clean_up and collapse_vertices can be merged into one function
......@@ -557,7 +557,7 @@ criticals_info get_critical_points(grid_type ogrid, dist_grid dg, GVD& gvd) {
}
/*void print_grid(grid_gvd ggvd,
grid_type grid,
grid grid,
boost::unordered_map<pos, dist_pos> cf = boost::unordered_map<pos, dist_pos>(),
boost::unordered_map<pos, bool> frontier_aux = boost::unordered_map<pos, bool>()) {
ofstream outfile;
......@@ -596,7 +596,7 @@ criticals_info get_critical_points(grid_type ogrid, dist_grid dg, GVD& gvd) {
// fclose(stdout);
}*/
boost::tuple<criticals_info, GVD> get_points_of_interest(grid_type ogrid) {
boost::tuple<criticals_info, GVD> get_points_of_interest(grid ogrid) {
boost::unordered_set<pos> res;
dist_grid dgrid;
dist_pos_queue dqueue;
......
src/lib/GVD/GVDC.h
View file @ 9e3ac14a
......@@ -41,17 +41,17 @@ using namespace std;
/*
* functions
*/
boost::tuple<dist_grid, dist_pos_queue> calculate_distances(grid_type ogrid, cell_type from_type);
boost::tuple<dist_grid, dist_pos_queue> calculate_distances(grid ogrid, cell_type from_type);
boost::tuple<boost::unordered_map<pos, pos>, pos> find_paths_to_gvd(grid_type ogrid,
boost::tuple<boost::unordered_map<pos, pos>, pos> find_paths_to_gvd(grid ogrid,
VecGVD gvd,
pos p_pos);
grid_gvd get_grid_gvd(dist_grid dg, dist_pos_queue);
// boost::unordered_map<pos, dist_pos> get_critical_points(grid_type ogrid, dist_grid dg, GVD& gvd);
// boost::unordered_map<pos, dist_pos> get_critical_points(grid ogrid, dist_grid dg, GVD& gvd);
// boost::unordered_map<pos,bool> get_local_mins(dist_grid dg, GVD gvd);
boost::tuple<criticals_info, GVD> get_points_of_interest(grid_type g);
boost::tuple<criticals_info, GVD> get_points_of_interest(grid g);
#endif
\ No newline at end of file
#endif
src/lib/GVD/GVDIC.cpp
View file @ 9e3ac14a
......@@ -218,8 +218,7 @@ void GVDIC::process_raise(pos s) {
void GVDIC::update_distance_map(vector<pos> obs_to_free,
vector<pos> any_to_obs,
vector<pos> unk_to_free,
vector<pos> unk_to_notunk) {
vector<pos> unk_to_free) {
// cout<<endl<<"# Getting changes"<<endl;
// cout<<endl<<"# setting cd for the changes"<<endl;
......@@ -330,7 +329,7 @@ void GVDIC::remove_obstacle(pos p) {
open.push(make_pair(0, p));
}
boost::tuple<vector<pos>, vector<pos>, vector<pos>, vector<pos>> GVDIC::get_changes(grid_type gt) {
boost::tuple<vector<pos>, vector<pos>, vector<pos>, vector<pos>> GVDIC::get_changes(grid gt) {
int mapWidth = gt.size();
if (mapWidth == 0) {
cout << "PLEASE USE A NOT EMPTY MAP" << endl;
......@@ -556,7 +555,7 @@ void GVDIC::update_possible_crit(pos_set to_add_gvd, pos_set to_erase_gvd) {
// MAIN
//////////
boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid_type gt) {
boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid gt) {
// pre increment
voro_to_true.clear();
voro_to_false.clear();
......@@ -573,7 +572,7 @@ boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid_type gt) {
boost::tie(obs_to_free, any_to_obs, unk_to_free, unk_to_notunk) = get_changes(gt);
update_frontiers(unk_to_notunk);
update_distance_map(obs_to_free, any_to_obs, unk_to_free, unk_to_notunk);
update_distance_map(obs_to_free, any_to_obs, unk_to_free);
update_gvd();
// post increment
......
src/lib/GVD/GVDIC.h
View file @ 9e3ac14a
......@@ -39,8 +39,8 @@ class GVDIC {
void clear_cell();
};
grid_type old_gt;
grid_type gt;
grid old_gt;
grid gt;
pos_set frontiers;
boost::unordered_map<pos, int> know_neighbors;
......@@ -53,7 +53,7 @@ class GVDIC {
bool is_occ(pos_set& obsts);
void check_voro(pos s, pos n);
boost::tuple<vector<pos>, vector<pos>, vector<pos>, vector<pos>> get_changes(grid_type gt);
boost::tuple<vector<pos>, vector<pos>, vector<pos>, vector<pos>> get_changes(grid gt);
void set_obstacle(pos p);
void remove_obstacle(pos p);
void set_consistent_borders(vector<pos>);
......@@ -65,8 +65,7 @@ class GVDIC {
void update_distance_map(vector<pos> obs_to_free,
vector<pos> any_to_obs,
vector<pos> unk_to_free,
vector<pos> unk_to_notunk);
vector<pos> unk_to_free);
void update_gvd();
boost::tuple<pos_set, pos_set> erosion(pos_set);
......@@ -87,7 +86,7 @@ class GVDIC {
boost::unordered_map<pos, CellDataO> cell_data_o;
boost::unordered_map<pos, CellDataC> cell_data_c;
boost::tuple<criticals_info, GVD> get_points_of_interest(grid_type gt);
boost::tuple<criticals_info, GVD> get_points_of_interest(grid gt);
pos_set voro_to_false;
pos_set voro_to_true;
......
src/lib/GVD/IDisMapGen.cpp
View file @ 9e3ac14a
#include "IDisMapGen.h"
IDisMapGen::IDisMapGen(vector<grid_type> obstructed_types, grid_type source_type){
this->obstructed_types = obstructed_types;
this->source_type = source_type;
};
IDisMapGen::IDisMapGen(Map* m, vector<cell_type> obstructed_types, cell_type source_type){
this->m = m;
this->obstructed_types = obstructed_types;
this->source_type = source_type;
};
// CellData
IDisMapGen::CellData::CellData() {
......@@ -41,7 +42,7 @@ boost::tuple<float, vector<pos>> closest_sources(pos p, pos_set sources) {
bool IDisMapGen::valid(pos_set& sources) {
for (auto it = sources.begin(); it != sources.end();) {
pos source = (*it);
if (gt[source.first][source.second] != Occupied) {
if ((*m)[source] != source_type) {
it = sources.erase(it);
} else {
++it;
......@@ -53,7 +54,7 @@ bool IDisMapGen::valid(pos_set& sources) {
void IDisMapGen::process_lower(pos s) {
CellData& s_cd = cell_data[s];
pos_set adj_s = adj(gt, s);
pos_set adj_s = m->adj(s,obstructed_types);
for (auto it = adj_s.begin(); it != adj_s.end(); it++) {
pos n = (*it);
CellData& n_cd = cell_data[n];
......@@ -67,12 +68,15 @@ void IDisMapGen::process_lower(pos s) {
// cout << "lowered: " <<n << endl;
n_cd.dist = d;
// cout<<n<<"updated dist to "<< n_cd.dist <<endl;
n_cd.parents.clear();
n_cd.parents.insert(n);
n_cd.sources.clear();
n_cd.sources.insert(s_closest_sources.begin(), s_closest_sources.end());
n_cd.is_cleared = false;
open.push(make_pair(d, n));
} else {
if (d == n_cd.dist) {
n_cd.parents.insert(n);
n_cd.sources.insert(s_closest_sources.begin(), s_closest_sources.end());
}
if (valid(n_cd.sources)) {
......@@ -90,7 +94,7 @@ void IDisMapGen::process_raise(pos s) {
pos_set s_closest_sources;
vector<pos> s_parents;
// for each neighbor n of s
pos_set adj_s = adj(gt, s);
pos_set adj_s = m->adj(s,obstructed_types);
for (auto it = adj_s.begin(); it != adj_s.end(); it++) {
pos n = (*it);
CellData& n_cd = cell_data[n];
......@@ -114,7 +118,7 @@ void IDisMapGen::process_raise(pos s) {
min_d = d;
// cout<<n<<"updated dist to "<< n_cd.dist <<endl;
s_parents.clear();
s_parents.push_back(s);
s_parents.push_back(n);
s_closest_sources.clear();
s_closest_sources.insert(n_closest_sources.begin(), n_closest_sources.end());
} else if (d == min_d) {
......@@ -127,6 +131,8 @@ void IDisMapGen::process_raise(pos s) {
if (min_d < MAXFLOAT) {
s_cd.dist = min_d;
s_cd.parents.clear();
s_cd.parents.insert(s_closest_sources.begin(), s_closest_sources.end());
s_cd.sources.clear();
s_cd.sources.insert(s_closest_sources.begin(), s_closest_sources.end());
s_cd.is_cleared = false;
......@@ -136,23 +142,43 @@ void IDisMapGen::process_raise(pos s) {
s_cd.to_raise = false;
}
void IDisMapGen::update_distance_map(vector<pos> obs_to_free,
vector<pos> any_to_obs,
vector<pos> unk_to_free,
vector<pos> unk_to_notunk) {
void IDisMapGen::set_consistent_borders(vector<pos> unk_to_free) {
pos_set inserted;
for (int i = 0; i < unk_to_free.size(); i++) {
pos s = unk_to_free[i];
// cout << "unk_to_free"<<s << endl;
pos_set adj_s = m->adj(s,obstructed_types);
for (auto it = adj_s.begin(); it != adj_s.end(); it++) {
pos n = (*it);
CellData& n_cd = cell_data[n];
if (valid(n_cd.sources) && !is_elem(inserted, s)) {
// cout << " border:"<<n << endl;
open.push(make_pair(n_cd.dist, n));
inserted.insert(n);
}
}
}
std::cout << "consistent borders" << endl;
print_property(inserted, m->g);
}
void IDisMapGen::update_distance_map(vector<pos> source_to_true,
vector<pos> source_to_false,
vector<pos> obstructed_to_free,
vector<pos> free_to_obstructed){
// cout<<endl<<"# Getting changes"<<endl;
// cout<<endl<<"# setting cd for the changes"<<endl;
for (int i = 0; i < obs_to_free.size(); i++) {
remove_source(obs_to_free[i]);
// cout << "Remove an sourceacle " << obs_to_free[i] << endl;
for (int i = 0; i < source_to_false.size(); i++) {
remove_source(source_to_false[i]);
// cout << "Remove an source source" << obs_to_free[i] << endl;
}
set_consistent_borders(unk_to_free);
set_consistent_borders(obstructed_to_free);
for (int i = 0; i < any_to_obs.size(); i++) {
set_source(any_to_obs[i]);
// cout << "Set an sourceacle " << any_to_obs[i] << endl;
for (int i = 0; i < source_to_true.size(); i++) {
set_source(source_to_true[i]);
// cout << "Set an source " << any_to_obs[i] << endl;
}
// cout<<endl<<"# Rebuild GVD"<<endl;
......@@ -170,5 +196,4 @@ void IDisMapGen::update_distance_map(vector<pos> obs_to_free,
process_lower(s);
}
}
}
}
\ No newline at end of file
src/lib/GVD/IDisMapGen.h
View file @ 9e3ac14a
#pragma once
#include "Map.h"
#include "grid.h"
#include "pos.h"
#include "utils.h"
......@@ -11,6 +12,7 @@ class IDisMapGen{
struct CellData {
float dist;
pos_set sources;
pos_set parents;
bool to_raise;
......@@ -20,9 +22,6 @@ class IDisMapGen{
void clear_cell();
};
grid_type old_gt;
grid_type gt;
typedef priority_queue<pair<float, pos>, vector<pair<float, pos>>, greater<pair<float, pos>>>
CellDataPQ;
CellDataPQ open;
......@@ -38,16 +37,15 @@ class IDisMapGen{
void process_lower(pos p);
void process_raise(pos p);
void update_distance_map(vector<pos> obs_to_free,
vector<pos> any_to_obs,
vector<pos> unk_to_free,
vector<pos> unk_to_notunk);
void update_distance_map(vector<pos> source_to_true,
vector<pos> source_to_false,
vector<pos> obstructed_to_free,
vector<pos> free_to_obstructed);
// voro
void set_voro(bool value, pos n);
cell_type source_type;
vector<cell_type> obstructed_types;
grid_type source_type;
vector<grid_type> obstructed_types;
Map* m = NULL;
public:
int DEBUG = 0;
......@@ -57,5 +55,5 @@ class IDisMapGen{
pos_set voro_to_false;
pos_set voro_to_true;
IDisMapGen(vector<grid_type> obstructed_types, grid_type source_type);
IDisMapGen(Map* m, vector<cell_type> obstructed_types, cell_type source_type);
};
src/lib/GVD/Map.cpp
View file @ 9e3ac14a
#include "Map.h"
cell_type& Map::operator[](pos p){
return cell(g,p);
}
void Map::update(grid g) {
this->g = g;
int mapWidth = g.size();
if (mapWidth == 0) {
cout << "PLEASE USE A NON EMPTY MAP" << endl;
}
int mapHeight = g[0].size();
for (int x = 0; x < mapWidth; x++) {
for (int y = 0; y < mapHeight; y++) {
this->changes.insert(make_pair(pos(x,y),g[x][y]);
}
}
}
// returns all *known* neighbors of a given pos p in the grid g
pos_set Map::adj(pos p, vector<cell_type> obstructed_types) {
pos_set adj;
for (auto it = neighbor_displacement.begin(); it != neighbor_displacement.end(); it++) {
pos a = p + (*it);
if (a > pos(-1, -1) && a < pos(g.size(), g[0].size())) {
bool valid = true;
for(auto it = obstructed_types.begin(); valid && it!=obstructed_types.end(); it++){
valid = cell(g,a) != *it;
}
if (valid) {
adj.insert(a);
}
}
}
return adj;
}
// returns ALL neighbors of a given pos p in the grid g
pos_set Map::all_adj(pos p) {
return adj(p, {});
}
// returns ALL neighbors of a given pos p in the grid g
vector<pos> Map::dirs() {
return neighbor_displacement;
}
src/lib/GVD/Map.h
View file @ 9e3ac14a
#pragma once
#include <vector>
#include "grid.h"
struct Map {
grid g;
set<pair<pos,cell_type>> changes;
cell_type& operator[](pos p);
void update(grid g);
pos_set adj(pos p, vector<cell_type> invalid_types);
pos_set all_adj(pos p);
vector<pos> dirs();
};
src/lib/GVD/grid.h
View file @ 9e3ac14a
......@@ -15,7 +15,7 @@ using namespace std;
*/
enum cell_type { Occupied, Unknown, Free, Critical, Frontier };
typedef vector<cell_type> row_type;
typedef vector<row_type> grid_type;
typedef vector<row_type> grid;
/*
* Misc
......@@ -54,7 +54,7 @@ static vector<pos> neighbor_displacement = {pos(-1, -1), pos(-1, 0), pos(-1, 1),
pos(1, 1), pos(1, 0), pos(1, -1), pos(0, -1)};
// returns all *known* neighbors of a given pos p in the grid gt
inline pos_set adj(grid_type gt, pos p, vector<cell_type> invalid_types = {Unknown}) {
inline pos_set adj(grid gt, pos p, vector<cell_type> invalid_types = {Unknown}) {
pos_set adj;
for (auto it = neighbor_displacement.begin(); it != neighbor_displacement.end(); it++) {
pos a = p + (*it);
......@@ -72,7 +72,7 @@ inline pos_set adj(grid_type gt, pos p, vector<cell_type> invalid_types = {Unkno
}
// returns ALL neighbors of a given pos p in the grid gt
inline pos_set all_adj(grid_type gt, pos p) {
inline pos_set all_adj(grid gt, pos p) {
pos_set adj;
for (auto it = neighbor_displacement.begin(); it != neighbor_displacement.end(); it++) {
pos a = p + (*it);
......
src/lib/GVD/test.cpp
View file @ 9e3ac14a
......@@ -3,24 +3,24 @@
using namespace std;
grid_type grid1 = {{Occupied, Occupied, Occupied, Occupied},
grid grid1 = {{Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Occupied},
{Occupied, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied}};
grid_type grid2 = {{Occupied, Occupied, Occupied, Occupied, Occupied},
grid grid2 = {{Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied}};
grid_type grid3 = {{Occupied, Occupied, Occupied, Occupied},
grid grid3 = {{Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Occupied},
{Occupied, Free, Free, Occupied},
{Occupied, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied}};
grid_type grid4 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
grid grid4 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Occupied, Free, Free, Occupied},
{Occupied, Free, Occupied, Free, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
......@@ -28,13 +28,13 @@ grid_type grid4 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Occupied, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}};
grid_type grid5 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
grid grid5 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}};
grid_type grid6 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
grid grid6 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
......@@ -48,7 +48,7 @@ grid_type grid6 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}};
grid_type grid7 = {{Occupied, Occupied, Occupied, Unknown, Occupied, Occupied, Occupied},
grid grid7 = {{Occupied, Occupied, Occupied, Unknown, Occupied, Occupied, Occupied},
{Occupied, Free, Frontier, Unknown, Frontier, Free, Occupied},
{Occupied, Free, Frontier, Frontier, Frontier, Free, Occupied},
{Occupied, Free, Free, Free, Free, Free, Occupied},
......@@ -60,7 +60,7 @@ grid_type grid7 = {{Occupied, Occupied, Occupied, Unknown, Occupied, Occupied, O
{Occupied, Free, Free, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}};
grid_type grid8 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
grid grid8 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Frontier, Frontier, Free, Free, Occupied},
{Occupied, Unknown, Frontier, Free, Free, Occupied},
......@@ -75,7 +75,7 @@ grid_type grid8 = {{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}};
vector<grid_type> test_1 = {{
vector<grid> test_1 = {{
{Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown},
......@@ -95,7 +95,7 @@ vector<grid_type> test_1 = {{
{Occupied, Occupied, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied}}};
vector<grid_type> test_2 = {
vector<grid> test_2 = {
{
{Unknown, Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown, Unknown},
......@@ -132,7 +132,7 @@ vector<grid_type> test_2 = {
{Occupied, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied}},
};
vector<grid_type> test_3 = {
vector<grid> test_3 = {
{
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
......@@ -187,7 +187,7 @@ vector<grid_type> test_3 = {
{Occupied, Free, Free, Free, Free, Occupied},
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}},
};
vector<grid_type> test_4 = {
vector<grid> test_4 = {
{
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
......@@ -217,7 +217,7 @@ vector<grid_type> test_4 = {
},
};
vector<grid_type> test_5 = {
vector<grid> test_5 = {
{{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Free, Free, Free, Free, Free, Free, Free, Occupied},
{Occupied, Free, Free, Free, Free, Free, Free, Free, Occupied},
......@@ -256,7 +256,7 @@ vector<grid_type> test_5 = {
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}},
};
vector<grid_type> test_6 = {
vector<grid> test_6 = {
{
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
{Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown},
......@@ -303,7 +303,7 @@ vector<grid_type> test_6 = {
},
};
vector<grid_type> test_7 = {
vector<grid> test_7 = {
{{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied},
{Occupied, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Occupied},
{Occupied, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Unknown, Occupied},
......@@ -333,7 +333,7 @@ vector<grid_type> test_7 = {
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied}},
};
vector<vector<grid_type>> tests = {test_1, test_2, test_3, test_4, test_5, test_6, test_7};
vector<vector<grid>> tests = {test_1, test_2, test_3, test_4, test_5, test_6, test_7};
#define RESET "\033[0m"
#define BLACK "\033[30m" /* Black */
......@@ -351,7 +351,7 @@ string colorize(string s, string color) {
}
int main(int argc, char** argv) {
vector<grid_type> test = test_5;
vector<grid> test = test_2;
if (argc == 2) {
char* a = argv[1];
int num = atoi(a);
......@@ -361,7 +361,7 @@ int main(int argc, char** argv) {
}
test = tests[num - 1];
}
grid_type grid;
grid grid;
GVDIC igvdc;
cout << "# INITIALIZATION DONE" << endl;
......
src/lib/GVD/utils.h
View file @ 9e3ac14a
......@@ -51,7 +51,7 @@ ostream& operator<<(ostream& out, const map<K, T>& m) {
return out;
}
inline void print_property(pos_set set, grid_type gt) {
inline void print_property(pos_set set, grid gt) {