Tesi Robotica Analisi, progettazione e implementazione... | Page 138

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“LP_Tesi” — 2013/10/17 — 18:27 — page 138 — #138

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6. SECONDA RELEASE

Algoritmo 6.12 Regole per il calcolo delle direzioni Pt.1
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rule r1 (step==0 && addr==0);
delta .deq();
top<=top+egap;
left <=left+egap;
result .enq(BitScoreDir{dir:WEST,score:gap∗2});
north<=gap∗2;
ramNorth.enq(BitScoreDir{dir:WEST,score:0});
maxu <= maxnwn(delta.first+left,gap∗2+egap);
endrule

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rule r2 (step==0 && addr!=0 && col==0);
delta .deq(); ramNorth.deq();

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BitScore cWest = left + gap;
BitScore cond;
if (ramNorth.first() . dir!=NORTH) cond=gap;
else cond=egap;

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let maxi = maxuw(maxu,cWest);
maxu <= maxnwn(delta.first+north,ramNorth.first().score+cond);
result .enq(maxi);
north<=ramNorth.first().score;
ramNorth.enq(maxi);
gapWest<=maxi.dir;
west<=maxi.score;
endrule

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rule r3 (step==0 && addr>size && addr==row && col!=0);
delta .deq(); ramNorth.deq();
BitScore cWest,cond;

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left <=left+egap;
if (gapWest!=WEST) cWest = west + gap;
else cWest = west + egap;
if (ramNorth.first() . dir!=NORTH) cond=gap;
else cond=egap;

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let maxi = maxuw(maxu,cWest);
maxu <= maxnwn(delta.first+left,ramNorth.first().score+cond);
north<=ramNorth.first().score;
result .enq(maxi);
ramNorth.enq(maxi);
endrule

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