Additions for Lecture on maze tracing robot

Lectures/L19_MazeTracingRobot/MazeTracingRobot.tex

@@ -44,8 +44,13 @@
 
 \begin{itemize}
 \item Administrative details
-\item Solar water heating tank example
-\item Dr.\ v.\ Mohrenschildt's maze tracing robot (\href{https://gitlab.cas.mcmaster.ca/smiths/se2aa4_cs2me3/blob/master/ReferenceMaterial/ExampleMaze_FormalSpec.pdf}{see GitLab})
+\item Dr.\ v.\ Mohrenschildt's maze tracing robot
+\bi
+\item
+  \href{https://gitlab.cas.mcmaster.ca/smiths/se2aa4_cs2me3/blob/master/ReferenceMaterial/vMohrenshildtAndPeters1998.pdf}
+  {see GitLab}
+\item Content section on Avenue
+\ei
 \item MIS for maze\_storage
 \end{itemize}
 
@@ -61,25 +66,18 @@ TBD
 \else
 {
 \begin{itemize}
-
 \item Assignment 2
 \begin{itemize}
-\item {Files due by 11:59 pm Feb 19}
-\item {File automatically sent to partners on Feb 20}
-\item Lab report due by 11:59 pm Feb 27
-\item {When returning an object, you can either create a new object or
-    return a reference}
-\item \structure{Remember: Deque is an Abstract Object, not an ADT}
+\item Part 1: February 20, 2018
+\item Partner Files: February 26, 2018
+\item Part 2: March 2, 2018
 \end{itemize}
 
 \item Midterm exam
 \begin{itemize}
-\item March 1, 7:00 pm, TSH/120
+\item Wednesday, February 28, 7:00 pm
 \item 90 minute duration
-\item Multiple choice - 30--40 questions?
-\item Open book (any paper)
 \end{itemize}
-
 \end{itemize}
 }
 \fi
@@ -98,15 +96,29 @@ TBD
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+\begin{frame}
+\frametitle{Likely Changes?}
+
+\begin{itemize}
+\item \structure<1>{What is the first step in the design process?}
+\item \uncover<2->{\structure<2>{What are some potential likely changes?}}
+\end{itemize}
+
+\end{frame}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 \begin{frame}
 \frametitle{Maze Tracing Robot Expected Changes}
 
 \begin{itemize}
 \item Changes to the geometry of the robot such that the mapping from a position
   to the robot inputs is different
-\item Changes to the interface to the robot
-\item Changes to the format of the maze
+\item Changes to the hardware interface to the robot
+\item Changes to the input format of the maze
 \item Changes to any constant values
+\item Changes to the data structure to store the maze
+\item Changes to the path finding algorithm
 \end{itemize}
 
 \end{frame}
@@ -194,18 +206,36 @@ TBD
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+\begin{frame}
+\frametitle{Understanding Maze Storage}
+
+\begin{center}
+\includegraphics[scale=0.5]{../Figures/Maze2.pdf}
+\end{center}
+
+\structure{Path length is measured by the number of grid blocks.  What length
+  are these paths?}\\
+\medskip
+C$_1$, C$_2$, C$_{10}$, C$_{11}$ \\ %12
+C$_1$, C$_2$, C$_4$, C$_8$, C$_{10}$, C$_{11}$ \\ %12
+%C$_1$, C$_7$, C$_8$, C$_{10}$, C$_{11}$ \\ %12
+
+\end{frame}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 \begin{frame}
 \frametitle{maze\_storage MIS}
 
 \textbf{Module}\\
 ~\newline
 maze\_storage\\
-~\newline
+\medskip
 
 \textbf{Uses}\\
 ~\newline
 types\_constants \#\textit{provides NUM\_X\_CELLS, NUM\_Y\_CELLS}\\
-~\newline
+\medskip
 
 \textbf{Exported Access Programs}\\
 ~\newline
@@ -215,12 +245,15 @@ types\_constants \#\textit{provides NUM\_X\_CELLS, NUM\_Y\_CELLS}\\
 \hline
 ... & ... & ... & ...\\
 \hline
-%any thoughts from the class on the design of the interface?
 \end{tabular}
+~\newline
+
+\structure{What are some potential access programs?}
 
 \end{frame}
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 \begin{frame}
 \frametitle{maze\_storage Exported Access Programs}
 
@@ -238,7 +271,7 @@ ms\_get\_maze\_start & ~ & cell & ms\_not\_initialized\\
 \hline
 ms\_get\_maze\_end & ~ & cell & ms\_not\_initialized\\
 \hline
-ms\_set\_wall & cell, cell & ~ & ms\_not\_initialized, ms\_not\_valid\_wall\\
+ms\_set\_wall & cell, cell & ~ & ms\_not\_initialized, ms\_not\_valid\_wall, etc.\\
 \hline
 ms\_is\_connected & cell, cell & boolean & ms\_not\_initialized, ms\_cell\_out\_of\_range\\
 \hline
@@ -252,7 +285,7 @@ cell = tuple of (x: integer, y: integer)
 \begin{frame}
 \frametitle{maze\_storage Semantics}
 
-\textbf{State Variables}\\
+\textbf{State Variables} \uncover<1>{\structure<1>{-- Ideas?}}\\
 ~\newline
 \uncover<2->{\structure<2>{$\mathit{maze}$: set of tuple of ( cell, cell )}}\\
 \uncover<2->{\structure<2>{$\mathit{start}: \mbox{cell} $}}\\
@@ -322,8 +355,8 @@ the corresponding set routines have been called.
 
 \noindent ms\_set\_wall(c1, c2):
 \begin{itemize}
-\item transition: \uncover<2->{\structure<2>{$\mathit{maze} := \mathit{maze} \cup \{ < c1, c2 > \}$}}
-\item exception: \uncover<3->{\structure<3>{$exc := (\neg \mathit{is\_init} \Rightarrow \mbox{ms\_not\_initialized } |
+\item transition: \uncover<-1>{\structure<-1>{?}}\uncover<2->{\structure<2>{$\mathit{maze} := \mathit{maze} \cup \{ < c1, c2 > \}$}}
+\item exception: \uncover<-2>{\structure<-2>{?}}\uncover<3->{\structure<3>{$exc := (\neg \mathit{is\_init} \Rightarrow \mbox{ms\_not\_initialized } |
 \mbox{ wall\_is\_point}(c1, c2) \vee \mbox{wall\_is\_diagonal}(c1, c2) \vee \mbox{wall\_is\_out\_of\_range}(c1, c2)
 \Rightarrow \mbox{ms\_not\_valid\_wall})$}}
 \end{itemize}
@@ -345,8 +378,9 @@ the corresponding set routines have been called.
 \mbox{ } \neg \mbox{cell\_in\_range}(c2) \Rightarrow \mbox{ms\_cell\_out\_of\_range} )$}}
 \end{itemize}
 
-\# \textit{Assumes that all intermediate points are in the input.  Could
-  rephrase to be more intelligent about it.}
+\# \textit{Assume that all intermediate segments are in the set of maze walls.
+  Could rephrase to allow to cover a portion of a segment.  The more general
+  case is covered on 2017 Midterm}
 
 \end{frame}
 
@@ -413,6 +447,10 @@ How would you specify the length of a path?\\
 \begin{frame}
 \frametitle{Midterm Questions}
 
+The
+\href{https://gitlab.cas.mcmaster.ca/smiths/se2aa4_cs2me3/blob/master/MidtermExam/PreviousYears/2017/midterm1-ver1-ANS.pdf}
+{Midterm 2017} has several questions related to mazes
+
 \end{frame}
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%