pheromone.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include "pheromone.h"
#include "enviroment.h"
#include "general.h"
#include "def.h"
#include "debug.h"

Go to the source code of this file.

Functions
pheromone_t *	pheromone_init (enviroment_t *env, int width, int lifetime, int pheromone_radius, int eval_radius, int eval_dist, int sector_max_size)
void	pheromone_destroy (pheromone_t *ph)
void	pheromone_make_stencil (int ***stencil, int size)
void	pheromone_put (pheromone_t *ph, int x, int y)
int	pheromone_eval (pheromone_t *ph, robot_t *robot)
void	pheromone_map_update (pheromone_t *ph, pheromone_map_sector_t *phms)
pheromone_map_sector_t **	pheromone_map_extract (pheromone_t *ph)
void	pheromone_map_destroy (pheromone_t *ph, pheromone_map_sector_t **phms)

Detailed Description

Author

Eriks Zaharans

Date

18 Jul 2013

DESCRIPTION

Pheromone library.

Definition in file pheromone.c.

Function Documentation

void pheromone_destroy

(

pheromone_t *

ph

)

Deinitialize pheromones

Parameters

ph	Pointer to pheromone structure

Returns

Void

Definition at line 109 of file pheromone.c.

int pheromone_eval	(	pheromone_t *	ph,
		robot_t *	robot
	)

Evaluate smell in pheromone map and return new heading direction

Parameters

ph	Pointer to pheromone structure
robot	Robot structure

Returns

Direction to move

Definition at line 219 of file pheromone.c.

pheromone_t* pheromone_init	(	enviroment_t *	env,
		int	width,
		int	lifetime,
		int	pheromone_radius,
		int	eval_radius,
		int	eval_dist,
		int	sector_max_size
	)

Initialize pheromones

Parameters

ph	Pointer to pheromone structure
env	nviroment structure
width
lifetime
smell_radius
scan_radius
sector_max_size

Returns

Pointer to pheromone structure

Definition at line 40 of file pheromone.c.

void pheromone_make_stencil	(	int ***	stencil,
		int	size
	)

Make stencil - generate circle area in 2D array

Parameters

stencil	Pointer to 2D array
size	Size of the stencil

Returns

Void

Definition at line 146 of file pheromone.c.

void pheromone_map_destroy	(	pheromone_t *	ph,
		pheromone_map_sector_t **	phms
	)

Destroy (free memory) array of pheromone map sectors

Parameters

ph	Pointer to pheromone structure
phms	Pointer to array of pheromone map sector structures

Returns

Void

Definition at line 449 of file pheromone.c.

pheromone_map_sector_t** pheromone_map_extract

(

pheromone_t *

ph

)

Extract array of pheromone map sectors

Parameters

ph	Pointer to pheromone structure

Returns

Pointer to array of pheromone map sector structures

Definition at line 371 of file pheromone.c.

void pheromone_map_update	(	pheromone_t *	ph,
		pheromone_map_sector_t *	phms
	)

Update pheromone map

Parameters

ph	Pointer to pheromone structure
phms	Pointer to pheromone map sector structure

Returns

Void

Definition at line 336 of file pheromone.c.

void pheromone_put	(	pheromone_t *	ph,
		int	x,
		int	y
	)

Put pheromone in pheromone map

Parameters

ph	Pointer to pheromone structure
x	X coordinate of pheromone center
y	Y coordinate of pheromone center
time	Time of placment

Returns

Void

Definition at line 174 of file pheromone.c.