Revision 3aee55de

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devices/DiWheelDrive/amiro_map.hpp
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#include "global.hpp"
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#include "linefollow.hpp"
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#include <amiroosconf.h>
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#include <ch.hpp>
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#include <cstdint>
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#include <math.h>
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namespace amiro {
......
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    uint8_t flag;
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    uint8_t left;
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    uint8_t right;
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    union edge {
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      struct edge_id{
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        uint8_t left;
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        uint8_t right;
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      } edge_id;
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      uint8_t arr[2];
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    } edge;
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    uint8_t visited;
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    types::position pL; // Left
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    types::position pR; // Right
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    types::position pB; // Back
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    union p{
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      struct{types::position pL, pR, pB;} points;
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      types::position arr[3];
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    } p;
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  };
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  struct map_state {
......
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    Internally the update will be called.
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    If there are no nodes in the node list they will be created.
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   */
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  uint8_t trackUpdate(uint16_t WL, uint16_t WR, LineFollowStrategy strategy, ut_states state);
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  uint8_t trackUpdate(uint16_t WL, uint16_t WR, LineFollowStrategy strategy, ut_states ut_state);
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private:
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  Global *global;
......
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   *
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   */
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  uint32_t calculateDist(types::position *p1, types::position *p2);
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  };
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  // add node/fxp to the nodeList and return its id
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  uint8_t addNode(uint8_t l, uint8_t r, uint8_t flags);
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  // Calculate dist and elength if possibel
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  void calTravelState();
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  // Check if all nodes have followers
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  // Calculate validity check
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  void checkMap();
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  void switchToNext(types::position *p1);
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  // Copy contents of point from to point to (x, y, f_x)
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  void copyPoint(types::position *from, types::position *to);
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  // Create the first fxp with flag 1
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  void createInitNode();
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  uint8_t getNearest(types::position *p1);
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  // Either create new fxpoint or assign point to existing one
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  uint8_t assignFxp(types::position *p1);
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};
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}; // namespace amiro
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#endif /* AMIRO_MAP */

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