floodfill.h File Reference

This file contains the function prototypes for the floodfill algorithm for mapping of the maze. More...

#include <stdint.h>
#include "pathfinding/maze.h"

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Typedefs
typedef uint16_t(*	floodfill_explore_func_t) (maze_grid_t *p_grid, maze_navigator_state_t *p_navigator, maze_cardinal_direction_t direction)
	This function pointer type is used to explore the maze. It is expected to return the walls that the robot sees. More...
typedef void(*	floodfill_move_navigator_t) (maze_navigator_state_t *p_navigator, maze_cardinal_direction_t direction)
	Moves the navigator/robot in the specified direction. More...

Functions
void	floodfill_init_maze_nowall (maze_grid_t *p_grid)
	This function initialises a maze with no walls to perform the floodfill algorithm on. More...
void	floodfill_map_maze (maze_grid_t *p_grid, const maze_grid_cell_t *p_end_node, maze_navigator_state_t *p_navigator, floodfill_explore_func_t p_explore_func, floodfill_move_navigator_t p_move_navigator)
	Runs the floodfill algorithm to map out the maze. More...

Detailed Description

This file contains the function prototypes for the floodfill algorithm for mapping of the maze.

Author

Christopher Kok (chris.nosp@m.@for.nosp@m.celig.nosp@m.htni.nosp@m.ng.xy.nosp@m.z)

Version

0.1

Date

2023-11-06

Copyright

Copyright (c) 2023

Typedef Documentation

floodfill_explore_func_t

floodfill_explore_func_t

This function pointer type is used to explore the maze. It is expected to return the walls that the robot sees.

Parameters

p_grid	Pointer to the maze.
p_navigator	Pointer to the navigator state.
direction	Direction to explore.

Returns

int16_t Returns a bitmask of the walls.

floodfill_move_navigator_t

floodfill_move_navigator_t

Moves the navigator/robot in the specified direction.

Parameters

p_navigator	Pointer to the navigator state.
direction	Direction to move.

Function Documentation

floodfill_init_maze_nowall()

void floodfill_init_maze_nowall

(

maze_grid_t *

p_grid

)

This function initialises a maze with no walls to perform the floodfill algorithm on.

Parameters

[in,out]

p_grid

Pointer to the maze.

References maze_grid::columns, maze_grid_cell::coordinates, maze_grid_cell::f, maze_grid_cell::g, maze_grid_cell::h, maze_grid_cell::is_visited, maze_get_cell_in_dir(), maze_grid_cell::p_came_from, maze_grid::p_grid_array, maze_grid_cell::p_next, and maze_grid::rows.

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floodfill_map_maze()

void floodfill_map_maze	(	maze_grid_t *	p_grid,
		const maze_grid_cell_t *	p_end_node,
		maze_navigator_state_t *	p_navigator,
		floodfill_explore_func_t	p_explore_func,
		floodfill_move_navigator_t	p_move_navigator
	)

Runs the floodfill algorithm to map out the maze.

Parameters

[in,out]	p_grid	Pointer to the initialised maze with no walls.
[in]	p_end_node	Pointer to the end node.
[in,out]	p_navigator	Pointer to the navigator state.
[in]	p_explore_func	Pointer to the function that will explore the maze.
[in]	p_move_navigator	Pointer to the function that will move the navigator.

References binary_heap::capacity, maze_grid::columns, maze_grid_cell::f, maze_grid_cell::g, maze_grid_cell::h, maze_clear_heuristics(), MAZE_NONE, maze_navigator_state::orientation, binary_heap::p_array, maze_navigator_state::p_current_node, maze_grid::p_grid_array, maze_grid_cell::p_next, maze_grid::rows, and binary_heap::size.

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