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July 16, 2023 16:59
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#include <iostream> | |
#include <vector> | |
#include <cmath> | |
#include <limits> | |
#include <queue> | |
#include <map> | |
#include <cfloat> | |
#include <set> | |
#include <string> | |
using namespace std; | |
struct Obstacle { | |
double x; | |
double y; | |
double diameter; | |
}; | |
struct Waypoint { | |
double x; | |
double y; | |
double cumulativeDistanceEuclidean; | |
double cumulativeDistanceManhattan; | |
int parentIndex; | |
}; | |
double calculateEuclideanDistance(const Waypoint& waypoint1, const Waypoint& waypoint2) { | |
return std::sqrt(std::pow(waypoint1.x - waypoint2.x, 2) + std::pow(waypoint1.y - waypoint2.y, 2)); | |
} | |
double calculateManhattanDistance(const Waypoint& waypoint1, const Waypoint& waypoint2) { | |
return std::abs(waypoint1.x - waypoint2.x) + std::abs(waypoint1.y - waypoint2.y); | |
} | |
bool isWaypointValid( | |
const Waypoint& waypoint, | |
const std::vector<Obstacle>& obstacles, | |
int maxDistFromOriginSquared ) { | |
if ( waypoint.x * waypoint.x + waypoint.y * waypoint.y > | |
maxDistFromOriginSquared ) | |
return false; | |
for (const Obstacle& obstacle : obstacles) { | |
double distance = std::sqrt(std::pow(obstacle.x - waypoint.x, 2) + std::pow(obstacle.y - waypoint.y, 2)); | |
if (distance <= obstacle.diameter / 2.0) { | |
// Waypoint lies inside an obstacle | |
return false; | |
} | |
} | |
return true; | |
} | |
// this part is generating the waypoints | |
std::vector<Waypoint> generateNeighboringWaypoints( | |
const Waypoint& currentWaypoint, | |
const std::vector<Obstacle>& obstacles, | |
int parentIndex, | |
int maxDistFromOriginSquared ) { | |
std::vector<Waypoint> neighboringWaypoints; | |
for (double dx : {-1.0, 0.0, 1.0}) { | |
for (double dy : {-1.0, 0.0, 1.0}) { | |
if (dx == 0.0 && dy == 0.0) { | |
continue; | |
} | |
Waypoint newWaypoint; | |
newWaypoint.x = currentWaypoint.x + dx; | |
newWaypoint.y = currentWaypoint.y + dy; | |
newWaypoint.cumulativeDistanceEuclidean = currentWaypoint.cumulativeDistanceEuclidean + calculateEuclideanDistance(currentWaypoint, newWaypoint); | |
newWaypoint.cumulativeDistanceManhattan = currentWaypoint.cumulativeDistanceManhattan + calculateManhattanDistance(currentWaypoint, newWaypoint); | |
newWaypoint.parentIndex = parentIndex; | |
if (isWaypointValid( | |
newWaypoint, | |
obstacles, | |
maxDistFromOriginSquared)) { | |
neighboringWaypoints.push_back(newWaypoint); | |
} | |
} | |
} | |
return neighboringWaypoints; | |
} | |
std::vector<Waypoint> exploreWorkspace( | |
const std::vector<Obstacle>& obstacles, | |
int maxDistFromOriginSquared ) { | |
std::vector<Waypoint> waypoints; | |
std::queue<int> queue; | |
std::set<std::pair<double, double>> visited; | |
Waypoint startWaypoint = {-1.0, -1.0, 0.0, 0.0, -1}; | |
waypoints.push_back(startWaypoint); | |
queue.push(0); | |
visited.insert({startWaypoint.x, startWaypoint.y}); | |
while (!queue.empty()) { | |
int currentIndex = queue.front(); | |
queue.pop(); | |
Waypoint currentWaypoint = waypoints[currentIndex]; | |
std::vector<Waypoint> neighboringWaypoints = generateNeighboringWaypoints( | |
currentWaypoint, | |
obstacles, | |
currentIndex, | |
maxDistFromOriginSquared ); | |
for (const Waypoint& newWaypoint : neighboringWaypoints) { | |
if (!visited.count({newWaypoint.x, newWaypoint.y})) { | |
waypoints.push_back(newWaypoint); | |
queue.push(waypoints.size() - 1); | |
visited.insert({newWaypoint.x, newWaypoint.y}); | |
} | |
} | |
} | |
return waypoints; | |
} | |
void printWaypoints(const std::vector<Waypoint>& waypoints) { | |
if (waypoints.empty()) { | |
std::cout << "No waypoints found." << std::endl; | |
return; | |
} | |
std::cout << "Waypoints: " << std::endl; | |
int i = 0; | |
for (const Waypoint& waypoint : waypoints) { | |
std::cout << "Waypoint " << i << ": (" << waypoint.x << ", " << waypoint.y << ")"; | |
std::cout << ", Euclidean Distance: " << waypoint.cumulativeDistanceEuclidean; | |
std::cout << ", Manhattan Distance: " << waypoint.cumulativeDistanceManhattan; | |
std::cout << ", Parent Index: " << waypoint.parentIndex << std::endl; | |
i++; | |
} | |
} | |
int main() { | |
// Define the obstacles | |
std::vector<Obstacle> obstacles = { | |
{0.0, 0.0, 0.5}, // Example obstacle 1 (center x, center y, diameter) | |
{0.5, 0.5, 0.3}, // Example obstacle 2 | |
{-0.5, 0.0, 0.4}, // Example obstacle 3 | |
{0.3, -0.2, 0.2} // Example obstacle 4 | |
}; | |
int maxDistFromOriginSquared = 20; | |
std::vector<Waypoint> waypoints = exploreWorkspace( | |
obstacles, | |
maxDistFromOriginSquared); | |
// Print obstacles | |
std::cout << "Obstacles: " << std::endl; | |
int obstacleIndex = 1; | |
for (const Obstacle& obstacle : obstacles) { | |
std::cout << "Obstacle " << obstacleIndex << ": (" << obstacle.x << ", " << obstacle.y << "), Diameter: " << obstacle.diameter << std::endl; | |
obstacleIndex++; | |
} | |
std::cout << std::endl; | |
// Print waypoints | |
printWaypoints(waypoints); | |
return 0; | |
} |
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Hey, thankyou soo much for your help. The issue was with VS code. Resolved it. Thankyou