Module: Castar

Includes:
Heyes
Defined in:
lib/castar.rb,
lib/castar/version.rb

Constant Summary collapse

VERSION = 
"0.0.1"

Class Method Summary collapse

Class Method Details

.get_map_with_path(driver) ⇒ Object 



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# File 'lib/castar.rb', line 56

def get_map_with_path(driver)
  path = get_path(driver)
  pathstr="\n"
  map = driver.getMap
  (0..map.height-1).each do |row|
    (0..map.width-1).each do |col|
      value = map.getCost(col,row)
      if(row==driver.nodeStart.y and col==driver.nodeStart.x)
        pathstr<<"|S"
      elsif(row==driver.nodeEnd.y and col==driver.nodeEnd.x)
        pathstr<<"|G"
      elsif(path.include?(:x => col, :y => row) )
        pathstr<<"|*"
      else
        pathstr<<"|#{value}"
      end
    end
    pathstr<<"|\n"
  end
  return pathstr
end

.get_path(driver) ⇒ Object 



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# File 'lib/castar.rb', line 48

def get_path(driver)
  path = [];
  (0..driver.getPathLength-1).each do |i|
    path << {:x => driver.getPathXAtIndex(i), :y =>  driver.getPathYAtIndex(i)}
  end
  path
end

.init_map(options = {}) ⇒ Object

make all the following instance methods module methods



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# File 'lib/castar.rb', line 11

def init_map( options={} )
  defaults = {:width => 90, :height => 90}
  options = defaults.merge(options)
  nrow = options[:height]
  ncol = options[:width]

  # set cost for each cell to 1
  a = Array.new(nrow).fill( Array.new(ncol).fill(1) )
  map = Map.new(ncol, nrow)
  a.each_with_index do |row, y| 
    row.each_with_index do |cost, x|
      map.setCost(x,y,cost)
    end
  end

  return map
end

.load_map(mapfile) ⇒ Object 



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# File 'lib/castar.rb', line 30

def load_map(mapfile)
  map = nil
  y = 0
  File.open(mapfile) do |f|
    f.each_line do |line|
      entries = line.chomp.split(',')
      map ||= Castar::Map.new( entries.size, entries.size )
      x = 0
      line.chomp.split(',').each do |cost|
        map.setCost(x,y,cost.to_i)
        x += 1
      end
      y += 1
    end
  end
  return map
end