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Update RobotScene.cpp
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@SergiosKar
SergiosKar authored Sep 13, 2017
1 parent b5dc69f commit 3bd872a
Showing 1 changed file with 16 additions and 188 deletions.
204 changes: 16 additions & 188 deletions RobotScene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,15 +121,16 @@ void RobotScene::keyEvent(unsigned char key, bool up, int modif)
}

case('v') : {
if (robottype == 0);
//pathViaVisibility(robot1.GetCentre(),)
else if (robottype == 1);
//VisibilityGraph(robot2.GetMidPoint(), VisibilityLines, cspace_obsts);
else if (robottype == 2);
//pathViaVisibility(robot3.GetCentroid(), C2DPoint(-50, -300), cspace_obsts, m_canvas);

robot2.RotateToRight(90, robot2.GetMidPoint());
m_path=path3DOF(robot2.GetMidPoint(), C2DPoint(-300, -300), cspace_obsts);

if (robottype == 0);
//pathViaVisibility(robot1.GetCentre(),)
else if (robottype == 1);
//VisibilityGraph(robot2.GetMidPoint(), VisibilityLines, cspace_obsts);
else if (robottype == 2);
//pathViaVisibility(robot3.GetCentroid(), C2DPoint(-50, -300), cspace_obsts, m_canvas);

robot2.RotateToRight(90, robot2.GetMidPoint());
m_path=path3DOF(robot2.GetMidPoint(), C2DPoint(-300, -300), cspace_obsts);


}
Expand Down Expand Up @@ -987,12 +988,7 @@ void FindAllAdjacent(std::vector<Tri> &tris, Tri triangle, int index, vvr::Canva

C2DCircle GetCircumCircle(const C2DTriangle &t)
{
//!//////////////////////////////////////////////////////////////////////////////////
//! TASK:
//!
//! - Kataskeyaste ton kyklo pou "pernaei" apo tis 3 koryfes tou trigwnou.
//!
//!//////////////////////////////////////////////////////////////////////////////////


C2DCircle circle;
circle.SetCircumscribed(
Expand All @@ -1005,16 +1001,7 @@ C2DCircle GetCircumCircle(const C2DTriangle &t)

bool IsDelaunay(const C2DTriangle &t, const C2DPointSet &pset)
{
//!//////////////////////////////////////////////////////////////////////////////////
//! TASK:
//!
//! - Check if this triangle is a Delaunay triangle.
//!
//! HINTS:
//!
//! - Shrink the circle a bit in order to exclude points of its circumference.
//!
//!//////////////////////////////////////////////////////////////////////////////////


for (int i = 0; i < pset.size(); i++) {
C2DCircle c = GetCircumCircle(t);
Expand All @@ -1029,17 +1016,7 @@ bool IsDelaunay(const C2DTriangle &t, const C2DPointSet &pset)

void FindViolations(vector<Tri> &tris, const C2DPointSet &ptset, vector<unsigned> &violations)
{
//!//////////////////////////////////////////////////////////////////////////////////
//! TASK:
//!
//! - Check in `tris` for Delaunay violations.
//!
//! HINTS:
//!
//! - If triangle i causes violation add it to violations vector like this:
//! violations.push_back(i);
//!
//!//////////////////////////////////////////////////////////////////////////////////


violations.clear();

Expand All @@ -1064,12 +1041,7 @@ void ShowViolations(vector<Tri> &tris, const vector<unsigned> &violations, Canva

bool FindAdjacentTriangle(vector<Tri> &tris, C2DPoint *p1, C2DPoint *p2, unsigned *tri_adj_index, C2DPoint **opp_ver)
{
//!//////////////////////////////////////////////////////////////////////////////////
//! TASK:
//!
//! - Vreite ena trigwno pou exei koini plevra me ton
//!
//!//////////////////////////////////////////////////////////////////////////////////


for (int i = 0; i < tris.size(); i++)
{
Expand Down Expand Up @@ -1451,88 +1423,11 @@ std::vector<C2DLine> RobotScene::path3DOF(C2DPoint start, C2DPoint end, std::vec
std::vector<C2DLine> path;


/*
if (robottype == 0)
MinkowskiSumCircle(robot1, obstpolygons, cs_obsts);
else if (robottype == 1)
MinkowskiSumLine(robot2, obstpolygons, cs_obsts, m_canvas);
else if (robottype == 2)
MinkowskiSumRect(robot3, obstpolygons, cs_obsts, m_canvas);
if (robottype == 0)
pathViaVisibility(start, end, cs_obsts, m_canvas);
if (robottype == 1)
pathViaVisibility(start, end, cs_obsts, m_canvas);
if (robottype == 2)
pathViaVisibility(start, end, cs_obsts, m_canvas);
*/



////////////check all rotations angles an uparxei lush komple

/*
for (int i = 0; i < 360; i++){
MinkowskiSumLine(robot2, obstpolygons, cs_obsts, m_canvas);
cur_path = pathViaVisibility(start, end, cs_obsts, m_canvas, bound);
if (cur_path.back().GetPointTo() == end){
for (int i = 0; i < cur_path.size(); i++)
path.push_back(cur_path[i]);
return path;
}
else{
robot2.RotateToRight(90, robot2.GetMidPoint());
cs_obsts.clear();
}

}*/
MinkowskiSumLine(robot2, obstpolygons, cs_obsts, m_canvas);
return path;

/*
///find point in next c-space:closest
C2DCircle cir;
bool stflag = false;
for (int i = 0; i < 10000; i=i+10){
cir = C2DCircle(cur_path.back().GetPointTo(), i);
for (int k = 0; k < cs_obsts.size(); k++){
for (int n = 0; n < cs_obsts[k].GetPointsCount(); n++)
{
if (cir.Contains(*cs_obsts[k].GetPoint(n))){
start = C2DPoint(*cs_obsts[k].GetPoint(n));
stflag = true;
break;
}
}
if (stflag == true)
break;
}
if (stflag == true)
break;
}
////////////////
m_canvas.add(start, Colour::black);
cur_path=pathViaVisibility(start, end, cs_obsts, m_canvas, bound);
for(int i = 0; i < cur_path.size(); i++)
m_path.push_back(cur_path[i]);
cur_path.clear();
*/



}
Expand Down Expand Up @@ -1570,75 +1465,8 @@ C2DPolygon Polygon_Union(C2DPolygon p1, C2DPolygon p2){



}
/*
Graph::Graph(int V)
{
this->V = V;
adj = new list<int>[V];
}
void Graph::addEdge(int u, int v)
{
adj[u].push_back(v); // Add v to u’s list.
}
// Prints all paths from 's' to 'd'
void Graph::printAllPaths(int s, int d)
{
// Mark all the vertices as not visited
bool *visited = new bool[V];
// Create an array to store paths
int *path = new int[V];
int path_index = 0; // Initialize path[] as empty
// Initialize all vertices as not visited
for (int i = 0; i < V; i++)
visited[i] = false;
// Call the recursive helper function to print all paths
printAllPathsUtil(s, d, visited, path, path_index);
}

// A recursive function to print all paths from 'u' to 'd'.
// visited[] keeps track of vertices in current path.
// path[] stores actual vertices and path_index is current
// index in path[]
void Graph::printAllPathsUtil(int u, int d, bool visited[],
int path[], int &path_index)
{
// Mark the current node and store it in path[]
visited[u] = true;
path[path_index] = u;
path_index++;
// If current vertex is same as destination, then print
// current path[]
if (u == d)
{
for (int i = 0; i < path_index; i++){
cout << path[i] << " ";
m_path.push_back(path[i]);
}
cout << endl;
}
else // If current vertex is not destination
{
// Recur for all the vertices adjacent to current vertex
list<int>::iterator i;
for (i = adj[u].begin(); i != adj[u].end(); ++i)
if (!visited[*i])
printAllPathsUtil(*i, d, visited, path, path_index);
}
// Remove current vertex from path[] and mark it as unvisited
path_index--;
visited[u] = false;
}
*/




Expand All @@ -1658,4 +1486,4 @@ int main(int argc, char* argv[])
std::cerr << "Unknown exception" << std::endl;
return 1;
}
}
}

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