ROSBuzz_MISTLab/buzz_scripts/include/shapes.bzz

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2017-07-07 16:57:15 -03:00
#Table of the nodes in the graph
m_vecNodes={}
m_vecNodes_fixed={}
m_vecNodes[0] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing
.Lable = 0, # Lable of the point
.Pred = -1, # Lable of its predecessor
.distance = -1, # distance to the predecessor
.bearing = -1, # bearing form the predecessor to this dot
.height = 3000, # height of this dot
.State="UNASSIGNED",
.StateAge=0
}
m_vecNodes[1] = {
.Lable = 1,
.Pred = 0,
.distance = 1000,
.bearing = 0.0,
.height = 5000,
.State="UNASSIGNED",
.StateAge=0
}
m_vecNodes[2] = {
.Lable = 2,
.Pred = 0,
.distance = 1000,
.bearing = 1.57,
.height = 7000,
.State="UNASSIGNED",
.StateAge=0
}
m_vecNodes[3] = {
.Lable = 3,
.Pred = 0,
.distance = 1000,
.bearing = 3.14,
.height = 9000,
.State="UNASSIGNED",
.StateAge=0
}
m_vecNodes[4] = {
.Lable = 4,
.Pred = 0,
.distance = 1000,
.bearing = 4.71,
.height = 11000,
.State="UNASSIGNED",
.StateAge=0
}
#
# Graph parsing
#
function parse_graph(fname) {
# Graph data
var gd = {}
# Open the file
var fd = io.fopen(fname, "r")
if(not fd) {
log("Can't open '", fname, "'")
return nil
}
# Parse the file line by line
var rrec # Record read from line
var grec # Record parsed into graph
io.fforeach(fd, function(line) {
# Parse file line
rrec = string.split(line, "\t ")
# Make record
gd[string.toint(rrec[0])] = { # The .graph file is stored according the sequence of lable, predecessor, distance, bearing
.Lable = string.toint(rrec[0]), # Lable of the point
.Pred = string.toint(rrec[1]), # Lable of its predecessor
.distance = string.tofloat(rrec[2]), # distance to the predecessor
.bearing = string.tofloat(rrec[3]), # bearing form the predecessor to this dot
.height = string.tofloat(rrec[4]), # height of this dot
.State="UNASSIGNED",
.StateAge=0
}})
# All done
io.fclose(fd)
return gd
}
function parse_graph_fixed(fname) {
# Graph data
var gd = {}
# Open the file
var fd = io.fopen(fname, "r")
if(not fd) {
log("Can't open '", fname, "'")
return nil
}
# Parse the file line by line
var rrec # Record read from line
var grec # Record parsed into graph
io.fforeach(fd, function(line) {
# Parse file line
rrec = string.split(line, "\t ")
# Make record
gd[string.toint(rrec[0])] = { # The .graph file is stored according the sequence of lable, pre1, dis2pr1, pre2, ids2pre2
.Pred1 = string.toint(rrec[1]), # Pred 1 lable
.Pred2 = string.toint(rrec[3]), # Pred 2 lable
.d1 = string.tofloat(rrec[2]), # Pred 1 distance
.d2 = string.tofloat(rrec[4]), # Pred 2 distance
.Lable=string.toint(rrec[0]),
.State="UNASSIGNED",
.StateAge=0
}})
# All done
io.fclose(fd)
return gd
}