Recovered from the mess from milestone2 and fixed bugs in logic, control_motion and mapping. Works good.
Added mapping to theia package
Started work to detect perimeter closure.
Brain now stops the robot when detects perimeter closure and fixed a bug in mapping where objects would get erased from it due to ir sensor data
Bug squashed
Wall follower updated to latest version
flag_pointy created to be able to go backwards
A_star in branch
Started correcting the implementation of the A* algorithm. The set class needs to be redone.
Started change to sets class so that it uses the vector class to maintain a list of nodes.
Added function to create a new node in a_star.cpp. Node creation will be made by a_star. Sets will just maintain lists of nodes, regardless of their relation.
Added a function to compute the a_star heuristic
Updated code to check neighbour and maintain the sets.
Added function to recover path from solution and convert it into a set of robot commands. Unfinished.
Solved some compile issues. More on this after dinner.
Solved compilation errors in a_star.
A* now finds the solution, but it's slow as hell. Needs debbuging.
Fixed a bug where t_f and t_g values were not being updated in the nodes. This sped up the algorithm quite a bit, but it's still too slow (in the worst case, takes about 30 secs to find the solution on a 100x100 grid)
Corrected bugs in A* and changed the heuristic. Very fast now, but no optimal solution.
Added code to handle walls and other obstacles while searching for a path.