Go to the source code of this file.
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| | 5_route_planning.bf = f2c.SG_BruteForce(); |
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| | 5_route_planning.boustrophedon_sorter = f2c.RP_Boustrophedon(); |
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| | 5_route_planning.cells = field.getField(); |
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| | 5_route_planning.cells_c |
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| | 5_route_planning.const_hl = f2c.HG_Const_gen(); |
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| | 5_route_planning.field = rand.generateRandField(1e4, 5); |
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| | 5_route_planning.mid_hl_c = const_hl.generateHeadlands(cells_c, 1.5 * robot_c.getWidth()); |
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| | 5_route_planning.no_hl = const_hl.generateHeadlands(cells, 3.0 * robot.getWidth()); |
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| | 5_route_planning.no_hl_c = const_hl.generateHeadlands(cells_c, 3.0 * robot_c.getWidth()); |
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| | 5_route_planning.rand = f2c.Random(42); |
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| | 5_route_planning.robot = f2c.Robot(2.0, 6.0); |
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| | 5_route_planning.robot_c = f2c.Robot(1.0); |
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| | 5_route_planning.route = route_planner.genRoute(mid_hl_c, swaths_c); |
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| | 5_route_planning.route_planner = f2c.RP_RoutePlannerBase(); |
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| | 5_route_planning.snake_sorter = f2c.RP_Snake(); |
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| | 5_route_planning.spiral_sorter = f2c.RP_Spiral(6); |
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| | 5_route_planning.swaths = bf.generateSwaths(math.pi, robot.getCovWidth(), no_hl.getGeometry(0)); |
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| | 5_route_planning.swaths_c = bf.generateSwaths(math.pi/2.0, robot_c.getCovWidth(), no_hl_c); |
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