Tesi Robotica Analisi, progettazione e implementazione... | Page 140

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“LP_Tesi” — 2013/10/17 — 18:27 — page 140 — #140

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6. SECONDA RELEASE

Algoritmo 6.13 Regole per il calcolo delle direzioni Pt.2
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rule r4 (step==0 && addr>size && addr==row−1 && col!=0);
delta .deq();
BitScore cWest, cond;
if (ramNorth.first() . dir!=NORTH) cond=gap;
else cond=egap;

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if (gapWest!=WEST) cWest = west + gap;
else cWest = west + egap;
northWest <= ramNorth.first().score;

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let maxi = maxuw(maxu,cWest);
maxu <= BitScoreDir{dir:NORTHWEST, score:delta.first+north};
result .enq(maxi);
north<=ramNorth.first().score;
ramNorth.enq(maxi);
gapWest<=maxi.dir;
west<=maxi.score;
endrule

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rule r5 (step==0 && addr>size && addr!=row && addr!=row−1 && col!=0);
delta .deq(); ramNorth.deq();
BitScore cWest, cond;
if (ramNorth.first() . dir!=NORTH) cond=gap;
else cond=egap;

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if (gapWest!=WEST) cWest = west + gap;
else cWest = west + egap;
northWest <= ramNorth.first().score;

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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 rlast (step==1);
ramNorth.deq();
BitScore cWest;
if (gapWest!=WEST) cWest = west + gap;
else cWest = west + egap;
BitScore cond;
if (ramNorth.first() . dir!=NORTH) cond=gap;
else cond=egap;
let maxi = maxuw(maxu,cWest);
result .enq(maxi);
step<=2;
endrule

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