## No more Boost Library

After got stuck trying to add more vertex properties using Boost Library, I decided to develop my own library for graph utilities. Now the program works fine and after minor enhancements will be ready to continue the tasks left before I quit using the Boost Library.

Tomorrow I have to report my progress to my thesis supervisor/advisor. Guess I need to peek on some crypto code I created some times ago, wishing that I can still grab those main ideas about elliptic curves, protocols and so forth…

• #### kusprasapta 6:56 pm on August 16, 2008 Permalink | Reply

yea!
create your own library!

## Integrating path planning module

After spending 3 days wandering (aimlessly?) trying to make my code implementing boost library works, we decide to simplify it and minimize the using of the library π¦

Now the code is working but I hate it because it’s so not fancy, not implementing OOP and far from design pattern! But the must important thing is that it works, giving us the map representation in graph. Next is represent the visited node and heuristic values in graph. And at the same time I plan to revise the code. Either digging more deeper into the boost library, or developing my own library! A simple but sufficient library of my own! π (as if there’s still plenty of time left, hi hi hi)

## Generating graph for grid map

Vertex list and edge list have been generated and these are graph representations for correlated maps.

n = 4

n = 10

n = 20

Next to do: generating more attributes for the graph (different colors, boldness, numbers, for indicating occupancy status)

• #### Budi Rahardjo 6:59 pm on July 31, 2008 Permalink | Reply

wow. beautiful graphs!

next would be (1) different visual representation for node that is occupied; (2) indicator representing the occupancy value; (3) different representation for edges that are not available for traversing; (4) current robot’s location; (5) sequence of graphs as the robot travels; (6) …

that’s too much already …

• #### soni 7:03 pm on July 31, 2008 Permalink | Reply

how can you generate the graph?
i mean, the way you did that.
it is automatic, isn’t it?
do we just put the number of vertex, and the graph generated automatically?

• #### chikaradirghsa 7:10 pm on July 31, 2008 Permalink | Reply

@BR: keep us in track with the to do list! show us directions! please!!! π

@soni: yes, by changing the n value (suppose the grid map is a 4×4 map then n = 4) then the corresponding graph will be generated automatically.

wow!

w o w !

WOW!!!

• #### waskita 5:37 pm on August 1, 2008 Permalink | Reply

I miss something here. What’s the purpose of the graphs ?

• #### chikaradirghsa 8:30 pm on August 1, 2008 Permalink | Reply

@waskita: for representing grid maps and path

• #### waskita 8:31 pm on October 14, 2008 Permalink | Reply

how much has the grid map go so far ?

• #### chikaradirghsa 9:43 pm on October 14, 2008 Permalink | Reply

@waskita: going nowhere π
now i’m back doing crypto and leaving those grid maps for a while π

## Got some things done

Well, the framework is finally ready. And Graphviz worked just fine, it gave nice visualizations of our .dot files. Lovely!

Next to do is modifying and optimizing the path planning module. And of course designing the best algorithm for navigation (Master Shifu has a million ideas in his head already.)

There are also some progress for my quals prep. Have got approval for the title and also have got some corrections for the proposal and presentation slides. Good.

Quite happy and progressing day π

## Customizing Properties

Defining my own properties tags to be added to the vertex, edge and graph.

We have agreed that the information about occupancy of obstacle in the map will be stored in the vertices.

c
Compose new post
j
Next post/Next comment
k
Previous post/Previous comment
r