blob: fb7670b02b47dad99b1a97ecab943c4b9e56d4c1 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
|
#include "problem.hpp"
using namespace std;
// ===================================== //
// IMPLEMENTATION FOR CLASS HILARE_A_MVT //
// ===================================== //
double hilare_a_mvt::length() {
// returns length traveled by the car
if (is_arc) return domega * (center - from.pos()).norm();
return ds ;
}
bool hilare_a::intersects(const obstacle &o) const {
if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
return false ;
}
bool hilare_a_mvt::intersects(const obstacle &o) const {
hilare_a_param *p = from.param;
vec pos_init = from.pos();
vec pos_init_trolley = from.pos_trolley();
if(is_arc){
double r_min =
min((pos_init - center).norm()-(p->r_c_car),
(pos_init_trolley - center).norm()-(p->r_c_trolley));
double r_max =
max((pos_init - center).norm()+(p->r_c_car),
(pos_init_trolley - center).norm()+(p->r_c_trolley));
//TODO
double theta1 = 0;
double theta2 = 0;
angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2));
if (sector.dist(o.c.c)<=o.c.r)return true;
if (from.intersects(o)) return true;
if (to.intersects(o)) return true;
return false;
}
return false;
}
bool hilare_a_mvt::intersects(const problem &p) const {
for (auto i = p.obstacles.begin(); i != p.obstacles.end(); i++) {
if (intersects(*i)) return true;
}
return false;
}
// ================================= //
// IMPLEMENTATION FOR CLASS SOLUTION //
// ================================= //
solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {
// TODO: try different possibilities and chose the shortest one
return solution(vector<hilare_a_mvt>());
}
// =============================== //
// IMPLEMENTATION FOR CLASS SOLVER //
// =============================== //
// TODO
/* vim: set ts=4 sw=4 tw=0 noet :*/
|
