diff options
Diffstat (limited to 'problem.hpp')
-rw-r--r-- | problem.hpp | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/problem.hpp b/problem.hpp index 3fc3054..f268d55 100644 --- a/problem.hpp +++ b/problem.hpp @@ -7,6 +7,7 @@ struct obstacle { circle c; + obstacle(circle cc) : c(cc) {} }; struct hilare_a_param { @@ -51,6 +52,7 @@ struct hilare_a_mvt { // deux étapes dans le mouvement : // - bien orienter la voiture (c'est l'angle dtheta_before) // - avancer/reculer sur le cercle (c'est l'angle domega) + hilare_a_mvt() : center(0, 0) {} hilare_a from, to; @@ -88,14 +90,14 @@ struct solver_internal { // intermediate data for the solver // represents a graph of randomly chosen positions and simple solutions between them std::vector<hilare_a> pts; - std::map<int, std::map<int, hilare_a_mvt> > paths; + std::map<int, std::map<int, solution> > paths; }; class solver { // mutex-protected asynchronous structure private: - //todo + solver_internal _d; public: solver(); @@ -103,6 +105,8 @@ class solver { void start(const problem &p); bool finished(); solution get_solution(); + + solver_internal peek_internal(); }; |