From 1c9ab2598d44bf6d78a85639ed85da6c978ef23a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jan=20Uhl=C3=ADk?= <jan@uhlik.me>
Date: Tue, 12 Mar 2019 23:29:13 +1300
Subject: [PATCH] Fix random grid generation.
Avoid creating obstacle on the same vertex where start/goal located is.
---
alib2graph_algo/src/generate/RandomGridFactory.hpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/alib2graph_algo/src/generate/RandomGridFactory.hpp b/alib2graph_algo/src/generate/RandomGridFactory.hpp
index 7f2227c61c..27b50cd2ef 100644
--- a/alib2graph_algo/src/generate/RandomGridFactory.hpp
+++ b/alib2graph_algo/src/generate/RandomGridFactory.hpp
@@ -54,19 +54,19 @@ RandomGridFactory::randomGrid(unsigned long height,
TGrid grid(height, width);
- // Add nodes
- ext::vector<node_type> obstacles;
-
// Generate start and goal node
node_type start(random_height(e1), random_width(e1));
node_type goal(random_height(e1), random_width(e1));
- obstacles.push_back(start);
- obstacles.push_back(goal);
-
+
// Generate obstacles
for (unsigned long i = 0; i < obstacle_cnt; ++i) {
node_type obstacle(random_height(e1), random_width(e1));
- obstacles.push_back(obstacle);
+
+ // Try to avoid creating obstacle on place of start or goal vertex
+ if (obstacle == start || obstacle == goal) {
+ continue;
+ }
+
grid.addObstacle(std::move(obstacle));
}
--
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