COMP2401 : Create an Obstacles.h File - Dynamically-Allocated Array of Obstacle - Computer Science Assignment Help

Assignment Task :

• You will need to create an obstacles.h file that defines the following typedefs: 

 An Obstacle type that maintains the x, y, width and height of a rectangular object.  Examine the display.c code to see how these attributes must be defined. 

 A Vertex type that maintains the x,y coordinate of the vertex as well as a linked list of  neighbouring vertices. That is, each vertex keeps a linked list of vertices that it  connects to in the graph. You should keep pointers to the first neighbour in the list (i.e.,  the head) and the last neighbour in the list (i.e., the tail). The vertex should also keep a  pointer to the obstacle that it belongs to (so that we can ask later if two vertices are  corners on the same obstacle). Again, see the display.c code for how some of these  vertex attributes must be defined. Note that the neighbours are actually Neighbour types … not Vertex types.

A Neighbour type that represents an item in the linked list of vertex neighbours. It  should keep a pointer to a Vertex that it represents, as well as a pointer to the next  Neighbour in the list. 

 Finally, an Environment type should be created that maintains a pointer to a  dynamically-allocated array of Obstacle types and the number of obstacles that have  been allocated. It should also maintain a pointer to a dynamically-allocated array of  Vertex types and the number of vertices that have been allocated. You can check the  test program and display.c code to make sure that you are defining this properly. 

You may add other things to this header file as/if you need them. 

• Create all remaining necessary functions and procedures in a pathPlanner.c file. The  functions required are indicated by the code in the test program. Note that each time the test  program displays something, it waits for the user to press ENTER. You may want to write  these functions in steps … by starting with the commenting out of code that you do not want to  test. So, you can first make sure that all your vertices are created properly … then your  complete graph … and finally your visibility graph. You should write the code as efficiently as  possible. You MUST NOT hardcode any arrays. The vertices of the environment MUST be  allocated dynamically, although the size will always be 4 times the number of obstacles. As  for the neighbours of a vertex …they must be created individually … you may NOT create an  array of neighbours at any time … they MUST be represented as a linked-list. 

• Complete your code as necessary so that a call to valgrind returns 0 errors and 0 memory  leaks. Make sure that your code is efficient and that you are making good use of your written  functions. 

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