From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Fri, 29 Jun 2018 20:24:01 +0000 (+0200)
Subject: Add JSON input to main program
X-Git-Tag: v0.1.0~31^2~2
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/84e3847e31a9cf481eef41507526306ee12618c7

Add JSON input to main program
---

diff --git a/base/main.cc b/base/main.cc
index 9e63dfe..f7e9d25 100644
--- a/base/main.cc
+++ b/base/main.cc
@@ -26,9 +26,36 @@ int main()
         std::cin >> jvi;
         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 
-        LaValle1998 p(new RRTNode(0, 0, 0), new RRTNode(9, 9, 0));
+        LaValle1998 p(
+                        new RRTNode(
+                                jvi["init"][0].asFloat(),
+                                jvi["init"][1].asFloat(),
+                                jvi["init"][2].asFloat()),
+                        new RRTNode(
+                                jvi["goal"][0].asFloat(),
+                                jvi["goal"][1].asFloat(),
+                                jvi["goal"][2].asFloat()));
         std::vector<CircleObstacle> co;
         std::vector<SegmentObstacle> so;
+        for (auto o: jvi["obst"]) {
+                if (o["circle"] != Json::nullValue) {
+                        co.push_back(CircleObstacle(
+                                                o["circle"][0].asFloat(),
+                                                o["circle"][1].asFloat(),
+                                                o["circle"][2].asFloat()));
+                }
+                if (o["segment"] != Json::nullValue) {
+                        so.push_back(SegmentObstacle(
+                                new RRTNode(
+                                        o["segment"][0][0].asFloat(),
+                                        o["segment"][0][1].asFloat(),
+                                        0),
+                                new RRTNode(
+                                        o["segment"][1][0].asFloat(),
+                                        o["segment"][1][1].asFloat(),
+                                        0)));
+                }
+        }
         p.link_obstacles(&co, &so);
 
         p.tstart();