1 files changed, 41 insertions, 9 deletions
diff --git a/problem.hpp b/problem.hpp
index 7097e0c..a41e47a 100644
--- a/problem.hpp
+++ b/problem.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <vector>
+#include <map>
 
 #include "geom.hpp"
 
@@ -8,10 +9,14 @@ struct obstacle {
 	circle c;
 };
 
-struct hilare_a {	// System A
+struct hilare_a_param {
 	// paramètres globaux
 	double l;
 	double r_c_car, r_c_trolley;
+};
+
+struct hilare_a {	// System A
+	hilare_a_param *param;
 
 	// position actuelle
 	double x, y, theta, phi;
@@ -19,16 +24,16 @@ struct hilare_a {	// System A
 	vec pos() const { return vec(x, y); }
 	vec dir() const { return vec::from_polar(1, theta); }
 
-	vec pos_trolley() const {
-		return pos() + vec::from_polar(l, theta + phi + M_PI);
-	}
 	vec dir_trolley() const {
-		return vec::from_polar(1, theta + phi);
+		return vec::from_polar(1, theta + phi + M_PI);
+	}
+	vec pos_trolley() const {
+		return pos() + param->l * dir_trolley();
 	}
 };
 
 struct problem {
-	std::vector<obstacle> map;
+	std::vector<obstacle> obstacles;
 
 	hilare_a begin_pos, end_pos;
 };
@@ -45,10 +50,18 @@ struct hilare_a_mvt {
 	// - avancer/reculer sur le cercle (c'est l'angle domega)
 
 	hilare_a from, to;
-	vec center;
+
+	bool is_arc;		// true = circle arc ; false = straight line (phi = 0)
+
 	double dtheta_before;		// rotation de la voiture sur elle-même avant
+
+	// CAS D'UN ARC DE CERCLE
+	vec center;
 	double domega;				// angle parcouru sur le cercle de centre center
 
+	// CAS D'UN DEPLACEMENT EN LIGNE DROITE
+	double ds;					// longueur par
+
 	double length();			// length of a movement
 
 	bool intersects(const obstacle& o) const;	// intersects an obstacle ?
@@ -57,6 +70,7 @@ struct hilare_a_mvt {
 
 struct solution {
 	std::vector<hilare_a_mvt> movement;
+	solution() {}
 	solution(const std::vector<hilare_a_mvt> &m) : movement(m) {}
 
 	// simple direct solution from A to B, takes into account no obstacles
@@ -64,9 +78,27 @@ struct solution {
 
 	// check if a solution intersects an obstacle of problem
 	bool intersects(const problem &p) const;
+};
+
+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;
+};
+
+class solver {
+	// mutex-protected asynchronous structure
+
+	private:
+	//todo
+
+	public:
+	solver();
 
-	// calculate a solution
-	static solution make_solution(const problem &p);
+	void start(const problem &p);
+	bool finished();
+	solution get_solution();
 };