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Remove obstacle class, keep on cell

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zwarenelle
2024-06-24 21:34:19 +02:00
parent bfb4fc1968
commit 97e099b5a9
1 changed files with 3 additions and 18 deletions
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21
src/CoveragePathPlanner/CoveragePathPlanner.cs
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@@ -23,18 +23,12 @@ public class CoveragePathPlanner
}
}
public List<Point> PlanPath(List<Obstacle> obstacles)
public List<Point> PlanPath(List<Point> obstacles)
{
// Add obstacles to the grid
foreach (Obstacle obstacle in obstacles)
foreach (Point obstacle in obstacles)
{
for (int x = obstacle.X; x < obstacle.X + obstacle.Width; x++)
{
for (int y = obstacle.Y; y < obstacle.Y + obstacle.Height; y++)
{
_cells[x + y * _width].IsObstacle = true;
}
}
_cells[obstacle.X + obstacle.Y * _width].IsObstacle = true;
}
// Initialize the start cell
@@ -114,15 +108,6 @@ public class CoveragePathPlanner
// Manhattan distance heuristic
return Math.Abs(cell.X - (_width - 1)) + Math.Abs(cell.Y - (_height - 1));
}
}
public class Obstacle
{
public int X { get; set; }
public int Y { get; set; }
public int Width { get; set; }
public int Height { get; set; }
}
public class Cell