Skip to main content

CMSC 172 - Project 1

CMSC 172 - Project 1

CMSC 172-Robot Modeling
Laboratory Project 1
Objectives

1. To write a solution to the gross motion path-finding problem in 2D space;
2. To initially write a solution for the above problem restricting only the mobile part to move in two translational dimensions.
3. To extend the code for the second objective above to include the third rotational dimension.

Prerequisites

1. Knowledge in C or Perl or Java programming.
2. Knowledge in scripting documents via the Hypertext Markup Language (HTML).

Required Output

You must publish a web page that will show the code specified in the objectives. The web page must be named ~your_login/www/cmsc/172/proj1.html. It must show your name, the specifics of your solutions and a link to the source code. All of your source codes must be properly documented. If you used multiple files for the source code, you must also provide a link for these. A Missing section must be included if not all requirements are satisfied explaining why you failed to finish the project. All reasons must be technical!

The input to your program must be a filename (or if you want to a form in your HTML code if you want to write a CGI-Perl for this) that follows the following format (each item is a line in your input file):

* Number of vertices for your environment
* The coordinates of the environment's vertices in x y format. Notice the space in between the x- and y-coordinates. Each coordinate must be written on each line and in the neighborhood sequence. Meaning, if vertex B is both adjacent to vertices A and C, then the coordinates for A should be above the coordinates of B while that of C is below of B.
* Number of vertices for the mobile part
* The coordinates of the mobile part's vertices on each line with the same format as writing coordinates above.
* The coordinates of the center of the mobile part at its original position.
* The coordinates of the center of the mobile part at its final destination.
* The number of obstacles
* For each obstacle i, do the following:
o The number of vertices for the ith obstacle
o The coordinates of the ith obstacle's vertices on different lines with the same format as writing coordinates above.
* A comment for each line must be preceded by a the hash symbol (#) but must be written after the data.

The output of the program must be a series of coordinates that the center of the mobile part will have to go to from the original position to the final destination. The solution must be the shortest path. If there is no solution found, the output must be the message No solution was found.
Example
Input File

4 # the environment is a rectangle
0 0
15 0
15 10
0 10
4 # the mobile part is a 4-gon
0 0
4 0
4 2
0 2
2 1 # original position of mobile part
13 9 # target position of the mobile part
5 # number of obstacles
4 # number of vertices for obstacle 1
0 3
0.5 3
0.5 6
0 6
4 # number of vertices for obstacle 2
5 7
7 7
8 8
6 8
3 # number of vertices for obstacle 3
5 2
9 2
9 8
4 # number of vertices for obstacle 4
10 2
11 2
11 4
10 4
4 # number of vertices for obstacle 5
13 6
15 6
15 7
13 7

Output for the Above Input File

2 1
2.5 3
2.5 9
13 9

Comments

Popular posts from this blog

Appreciating Rizal...

Nope, this is not an academic post. More of a reflective and wrote-because-i-was-enlightened type post. Anyway, I just passed a paper on Rizal's notion of a nation according to Quibuyen (a local writer who devoted a book -- A Nation Aborted -- on his treatise on Rizal). Chapter 6 was an interesting read, and a definite eye opener. Rizal all of a sudden became interesting, especially to someone like me who could care less. It seems that most of what Rizal aims for and wrote about is still evident in today's Philippines as I see it. I wonder why I didn't get to appreciate Rizal and his work when I was still in high school -- might be the fault of the high school and the curriculum, or might be because I was still considerably immature then. I wasn't able to understand most of Rizal's writings though even if I got to reading them basically because they translated from Spanish to Filipino/Tagalog. I don't have problems with Tagalog, until you put it in writing. I

From FOMO to JOMO

Until very recently I believed that I needed to be on top of the latest news and happenings not only in my field (computer science and software engineering) but also in as many things as I can be on top of. This meant subscribing to all sorts of magazines, newsletters, YouTube channels, Twitch streamers, watching TV and live sport events, etc. — I was on top of a lot of the latest happenings, trends, news, interesting developments. I was having fun and I felt busy. What I did not feel was particularly effective nor productive. I felt like I was consuming so much information with the thought that it might be useful someday. When I was younger this wouldn’t have been an issue but I realised that ever since I’ve started taking stock of what I’ve been spending my time on, that a lot of it I’ve been spending just staying on top of things that I really didn’t need to be on top of. This article is about some of the realisations I’ve made in the course of exploring this issue of “FOMO” or

Reconnecting with people

2021 started with a a good sense of connection for me, having spent time with friends and family in a simple celebration of the oncoming year. The transition from 2020 to 2021 and being able to look back at a good part of my recent history got me thinking about how life has been for me and the family for the past decade. There’ve been a lot of people that I’ve met and become friends with while there are those that I’ve left behind and lost touch with. There’s a saying about treating old friends different from new ones, which I do appreciate now that I’m a bit older. It also means that my relationships with people that I get to spend a good amount of time with take a different shape. This reflection has given me some time and space to think about what it means to reconnect with people. Friends are the family we choose ourselves. — Edna Buchman I have the privilege of having life-long friends that I don’t always stay in regular contact with. From my perspective, if I consider you a frien