FHWS/Indoor
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removed gridSize from the template arguments

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- not needed and code much cleaner
some minor changes
new test-cases
This commit is contained in:
FrankE
2016-01-25 15:53:12 +01:00
parent 9947dced15
commit 5aedce47f1
16 changed files with 167 additions and 66 deletions
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6
grid/walk/GridWalkLightAtTheEndOfTheTunnel.h
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@@ -41,7 +41,7 @@ private:
public:
/** ctor with the target you want to reach */
template <int gridSize_cm, typename Access> GridWalkLightAtTheEndOfTheTunnel(Grid<gridSize_cm, T>& grid, const Access& acc, const T& target) {
template <typename Access> GridWalkLightAtTheEndOfTheTunnel(Grid<T>& grid, const Access& acc, const T& target) {
// build all shortest path to reach th target
dijkstra.build(target, target, acc);
@@ -60,7 +60,7 @@ public:
}
template <int gridSize_cm> GridWalkState<T> getDestination(Grid<gridSize_cm, T>& grid, GridWalkState<T> start, float distance_m) {
GridWalkState<T> getDestination(Grid<T>& grid, GridWalkState<T> start, float distance_m) {
int retries = 2;
GridWalkState<T> res;
@@ -84,7 +84,7 @@ public:
private:
template <int gridSize_cm> GridWalkState<T> walk(Grid<gridSize_cm, T>& grid, GridWalkState<T> cur, float distRest_m) {
GridWalkState<T> walk(Grid<T>& grid, GridWalkState<T> cur, float distRest_m) {
drawer.reset();;

4
grid/walk/GridWalkWeighted.h
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@@ -45,7 +45,7 @@ private:
public:
template <int gridSize_cm> State getDestination(Grid<gridSize_cm, T>& grid, State start, float distance_m) {
template <int gridSize_cm> State getDestination(Grid<T>& grid, State start, float distance_m) {
int retries = 2;
State res;
@@ -73,7 +73,7 @@ private:
return Heading(from.x_cm, from.y_cm, to.x_cm, to.y_cm);
}
template <int gridSize_cm> State walk(Grid<gridSize_cm, T>& grid, State cur, float distRest_m) {
State walk(Grid<T>& grid, State cur, float distRest_m) {
drawer.reset();;