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Restore box functionality in wavefront #76

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Restore box functionality in wavefront #76

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7a45ab4
Restore box functionality in wavefront
Apr 5, 2018
e88e152
Merge remote-tracking branch 'upstream/master'
Apr 5, 2018
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12 changes: 6 additions & 6 deletions matlab_simulation/08-planning/shortest_wavefront_path.m
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Original file line number Diff line number Diff line change
Expand Up @@ -23,14 +23,14 @@
[-1, 0];
];
case 'box'
test_locations = [ [0, 1];
[1, 1];
[1, 0];
test_locations = [ [1, 1];
[1, -1];
[-1, -1];
[-1, 1];
[0, 1];
[1, 0];
[0, -1];
[1, -1];
[1, 0];
[1, 1];
[-1, 0];
];
otherwise
disp('No valid motion method provided')
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14 changes: 7 additions & 7 deletions matlab_simulation/08-planning/wavefront.m
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Original file line number Diff line number Diff line change
Expand Up @@ -50,14 +50,14 @@
[-1, 0];
];
case 'box'
test_locations = [ [0, 1];
[1, 1];
[1, 0];
test_locations = [ [1, 1];
[1, -1];
[-1, -1];
[-1, 1];
[0, 1];
[1, 0];
[0, -1];
[1, -1];
[1, 0];
[1, 1];
[-1, 0];
];
otherwise
disp('No valid motion method provided')
Expand All @@ -82,7 +82,7 @@

% for each of the neighboring cells check if it has been already
% explored
for i = 1:4
for i = 1:length(wavefrontpnts(:,1))
if (wavefrontmap(wavefrontpnts(i,1),wavefrontpnts(i,2)) ~= -10)
continue;
end
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