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motion planning in c++

saritta (4)
please i need help , i'm writing a code to generate a vector field in grids and compute the cost over each grids then, use a method to find the smallest path in order to reach a goal, when i compile my program i have this error: array bound is not an integer constant before ']' token,here is the program

#include <iostream>
#include <cmath>
using namespace std;

int m=3,n=3;
int M[3][3];
int V[m][n];
float C[m][n];


int root(float a,float b)
{
float delta,h0,epsi,f1,hn,f2,hnext,fp1,fp2;
h0=0;
epsi=0.01;
delta=0.2;


f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
hn=h0+delta;
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));
if(f1*f2==0) cout<<"the root is"<<hn;

while (f1*f2>0)
{
h0=hn;
f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
hn=h0+delta;
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

}
while(f2*f1<0)
{
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

fp1=(2/sqrt(pow(hn,2)+pow(1-hn,2)))-(((2*hn-1)*(4*hn-2))/(2*pow(pow(hn,2)+pow(1-hn,2),(3/2))));


fp2=((-12*hn+6)/pow(pow(hn,2)+pow(1-hn,2),(3/2)))+(((6*hn-3)*pow(4*hn-2,2))/(4*pow(2*pow(hn,2)+1+2*hn,(5/2))));


hnext=hn-(f2/(fp1-(fp2*f2/2*fp1)));
if (abs(hnext-hn)<epsi)
{

cout<<"the root is"<<hnext;
return hnext;
}
else hn=hnext;
}
}




void ortho(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{
if (V[h+1][k]==-1&&M[h+1][k]==0)
C[h+1][k]=1;
if(V[h-1][k]==-1&&M[h-1][k]==0)
C[h-1][k]=1;
if (V[h][k+1]==-1&&M[h][k+1]==0)
C[h][k+1]=1;
if (V[h][k-1]==-1&&M[h][k-1]==0)
C[h][k-1]=1;
return;

}


void corner(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{
if (V[h-1][k+1]==-1&&M[h-1][k+1]==0 )
inter1(V,C,M,h,k);
if (V[h-1][k-1]==-1&&M[h-1][k-1]==0 )
inter2(V,C,M,h,k);
if (V[h+1][k+1]==-1&&M[h+1][k+1]==0 )
inter3(V,C,M,h,k);
if (V[h+1][k-1]==-1&&M[h+1][k-1]==0 )
inter4(V,C,M,h,k);
return;
}
void inter1(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float y=0,z=0;
if(M[h-1][k]==0&&M[h][k+1]==0)
{
y=C[h-1][k]; z=C[h][k+1];
x=root(z,y);
C[h-1][k+1]=x*z+(1-x)*y+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h-1][k]==0&&M[h][k+1]!=0)
C[h-1][k+1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k+1]==0)
C[h-1][k+1]=C[h][k+1]+1;
else cout<<"find solution!"<<endl;
return;
}


void inter2(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float l=0,f=0;
if(M[h-1][k]==0&&M[h][k-1]==0)
{
l=C[h-1][k]; f=C[h][k-1];
x=root(f,l);
C[h-1][k-1]=x*f+(1-x)*l+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h-1][k]==0&&M[h][k-1]!=0)
C[h-1][k-1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k-1]==0)
C[h-1][k-1]=C[h][k-1]+1;
else cout<<"find solution!"<<endl;
return;
}


void inter3(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float t=0,w=0;
if(M[h][k+1]==0&&M[h+1][k]==0)
{
t=C[h][k+1]; w=C[h+1][k];
x=root(t,w);
C[h+1][k+1]=x*t+(1-x)*w+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h][k+1]==0&&M[h+1][k]!=0)
C[h+1][k+1]=C[h][k+1]+1;
else if (M[h][k+1]!=0&&M[h+1][k]==0)
C[h+1][k+1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}

void inter4(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float d=0,e=0;
if(M[h][k-1]==0&&M[h+1][k]==0)
{
d=C[h][k-1]; e=C[h+1][k];
x=root(d,e);
C[h+1][k-1]=x*d+(1-x)*e+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h][k-1]==0&&M[h+1][k]!=0)
C[h+1][k-1]=C[h][k-1]+1;
else if (M[h][k-1]!=0&&M[h+1][k]==0)
C[h+1][k-1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}
int main()
{
int i,j,h=0,k=0;
for (i=0,i<m,i++)
{
for (j=0,j<n,j++)
{
C[i][j]=0:
V[i][j]=-1;
}
}
int M[3][3]={{0,0,1},{0,0,0},{0,0,0}};
int ag=2; bg=2;

for (i=0,i<=ag,i++)
{
for (j=0,j<=n-1-bg,j++)
{
if (V[ag-i][bg+j]==-1&&M[ag-i][bg+j]==0)
{
h=ag-i; k=bg+j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=m-1-ag,i++)
{
for (j=0,j<=n-1-bg,j++)
{
if (V[ag+i][bg+j]==-1&&M[ag+i][bg+j]==0)
{
h=ag+i; k=bg+j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=ag,i++)
{
for (j=0,j<=bg,j++)
{
if (V[ag-i][bg-j]==-1&&M[ag-i][bg-j]==0)
{
h=ag-i; k=bg-j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=m-1-ag,i++)
{
for (j=0,j<=bg,j++)
{
if (V[ag+i][bg-j]==-1&&M[ag+i][bg-j]==0)
{
h=ag+i; k=bg-j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for(i=0,i<4,i++)
{
for(j=0,j<4,j++)
{
cout<<C[i][j];
}
}
}

LB (13399)
Please edit your post and make sure your code is [code]between code tags[/code] so that it has line numbers, as well as syntax highlighting and proper indentation.
saritta (4)
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#include <iostream>
#include <cmath>
using namespace std;

int m=3,n=3;
int M[3][3];
int V[m][n];
float C[m][n];


int root(float a,float b)
{
float delta,h0,epsi,f1,hn,f2,hnext,fp1,fp2;
h0=0;
epsi=0.01;
delta=0.2;


f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
hn=h0+delta;
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));
if(f1*f2==0) cout<<"the root is"<<hn;

while (f1*f2>0)
{
h0=hn;
f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
hn=h0+delta;
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

}
while(f2*f1<0)
{
f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

fp1=(2/sqrt(pow(hn,2)+pow(1-hn,2)))-(((2*hn-1)*(4*hn-2))/(2*pow(pow(hn,2)+pow(1-hn,2),(3/2))));


fp2=((-12*hn+6)/pow(pow(hn,2)+pow(1-hn,2),(3/2)))+(((6*hn-3)*pow(4*hn-2,2))/(4*pow(2*pow(hn,2)+1+2*hn,(5/2))));


hnext=hn-(f2/(fp1-(fp2*f2/2*fp1)));
if (abs(hnext-hn)<epsi)
{

cout<<"the root is"<<hnext;
return hnext;
}
else hn=hnext;
}
}




void ortho(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{
if (V[h+1][k]==-1&&M[h+1][k]==0)
C[h+1][k]=1;
if(V[h-1][k]==-1&&M[h-1][k]==0)
C[h-1][k]=1;
if (V[h][k+1]==-1&&M[h][k+1]==0)
C[h][k+1]=1;
if (V[h][k-1]==-1&&M[h][k-1]==0)
C[h][k-1]=1;
return;

}


void corner(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{
if (V[h-1][k+1]==-1&&M[h-1][k+1]==0 )
inter1(V,C,M,h,k);
if (V[h-1][k-1]==-1&&M[h-1][k-1]==0 )
inter2(V,C,M,h,k);
if (V[h+1][k+1]==-1&&M[h+1][k+1]==0 )
inter3(V,C,M,h,k);
if (V[h+1][k-1]==-1&&M[h+1][k-1]==0 )
inter4(V,C,M,h,k);
return;
}
void inter1(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float y=0,z=0;
if(M[h-1][k]==0&&M[h][k+1]==0)
{
y=C[h-1][k]; z=C[h][k+1];
x=root(z,y);
C[h-1][k+1]=x*z+(1-x)*y+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h-1][k]==0&&M[h][k+1]!=0)
C[h-1][k+1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k+1]==0)
C[h-1][k+1]=C[h][k+1]+1;
else cout<<"find solution!"<<endl;
return;
}


void inter2(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float l=0,f=0;
if(M[h-1][k]==0&&M[h][k-1]==0)
{
l=C[h-1][k]; f=C[h][k-1];
x=root(f,l);
C[h-1][k-1]=x*f+(1-x)*l+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h-1][k]==0&&M[h][k-1]!=0)
C[h-1][k-1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k-1]==0)
C[h-1][k-1]=C[h][k-1]+1;
else cout<<"find solution!"<<endl;
return;
}


void inter3(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float t=0,w=0;
if(M[h][k+1]==0&&M[h+1][k]==0)
{
t=C[h][k+1]; w=C[h+1][k];
x=root(t,w);
C[h+1][k+1]=x*t+(1-x)*w+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h][k+1]==0&&M[h+1][k]!=0)
C[h+1][k+1]=C[h][k+1]+1;
else if (M[h][k+1]!=0&&M[h+1][k]==0)
C[h+1][k+1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}

void inter4(int V[m][n],int M[m][n],float C[m][n],int h,int k)
{ float d=0,e=0;
if(M[h][k-1]==0&&M[h+1][k]==0)
{
d=C[h][k-1]; e=C[h+1][k];
x=root(d,e);
C[h+1][k-1]=x*d+(1-x)*e+sqrt(pow(x,2)+pow(1-x,2));

}
else if (M[h][k-1]==0&&M[h+1][k]!=0)
C[h+1][k-1]=C[h][k-1]+1;
else if (M[h][k-1]!=0&&M[h+1][k]==0)
C[h+1][k-1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}
int main()
{
int i,j,h=0,k=0;
for (i=0,i<m,i++)
{
for (j=0,j<n,j++)
{
C[i][j]=0:
V[i][j]=-1;
}
}
int M[3][3]={{0,0,1},{0,0,0},{0,0,0}};
int ag=2; bg=2;

for (i=0,i<=ag,i++)
{
for (j=0,j<=n-1-bg,j++)
{
if (V[ag-i][bg+j]==-1&&M[ag-i][bg+j]==0)
{
h=ag-i; k=bg+j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=m-1-ag,i++)
{
for (j=0,j<=n-1-bg,j++)
{
if (V[ag+i][bg+j]==-1&&M[ag+i][bg+j]==0)
{
h=ag+i; k=bg+j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=ag,i++)
{
for (j=0,j<=bg,j++)
{
if (V[ag-i][bg-j]==-1&&M[ag-i][bg-j]==0)
{
h=ag-i; k=bg-j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for (i=0,i<=m-1-ag,i++)
{
for (j=0,j<=bg,j++)
{
if (V[ag+i][bg-j]==-1&&M[ag+i][bg-j]==0)
{
h=ag+i; k=bg-j;
ortho(V,C,M,h,k);
corner(V,C,M,h,k);
V[h][k]=1;
}
}
}
for(i=0,i<4,i++)
{
for(j=0,j<4,j++)
{
cout<<C[i][j];
}
}
}
LB (13399)
You accidentally submitted a new post instead of editing your original post. It's too late to fix it now.

You accidentally removed all the indentation - this makes it really hard to read the code.

The error is because you forgot to write const on line 3:

int const m=3,n=3;
saritta (4)
thank you so much , i'm sorry i had to edit my post but a did a new one , i'm beginner with this forum :) ok thanks for your answer, when i compile again my program i had this error: 140|error: cannot convert 'float (*)[3]' to 'int (*)[3]' for argument '2' to 'void inter1(int (*)[3], int (*)[3], float (*)[3], int, int)'|can any one help me to fix it please?
nadurraXII (60)
Your arrays are not being built properly. Maybe it can work that way, but there are much easier ways. I would recommend a prototype at least to declare your arrays or perhaps a struct.

as for your initialization, you want something like this.
const int SIZEM = 4; // this sets the number of parts in the array.
const int SIZEN = 3;
void display(double [SIZEM][SIZEN]); //declaration

Then be sure to initialize in your main and your functions.

A struct or a class would be very helpful to clarify your separate operations.
... and another thing. C++ does not do bounds checking if you exceed the array size.
You can test by adding this simple loop...
if(n >= MAX)
{
cout << "The array is full. ";
break;
}
saritta (4)
i have done what u have said i dn't know if i did it correctly or not but the error was fixed, when i compile it i had another error : expected unqualified-id before 'double'| and error: expected ')' before 'double'| in line 85 thank you :)
here is the program: 
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#include <iostream>
#include <cmath>
using namespace std;

const int SIZEM = 4;const int SIZEN = 3;;
int M[3][3];
int V[SIZEM][SIZEN];
float C[SIZEM][SIZEN];


int root(float a,float b)
{
    float   delta,h0,epsi,f1,hn,f2,hnext,fp1,fp2;
    h0=0;
    epsi=0.01;
    delta=0.2;


    f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
    hn=h0+delta;
    f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));
    if(f1*f2==0)   cout<<"the  root    is"<<hn;

    while   (f1*f2>0)
{
    h0=hn;
    f1=a-b+((2*h0-1)/sqrt(pow(h0,2)+pow(1-h0,2)));
    hn=h0+delta;
    f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

}
while(f2*f1<0)
{
    f2=a-b+((2*hn-1)/sqrt(pow(hn,2)+pow(1-hn,2)));

    fp1=(2/sqrt(pow(hn,2)+pow(1-hn,2)))-(((2*hn-1)*(4*hn-2))/(2*pow(pow(hn,2)+pow(1-hn,2),(3/2))));


    fp2=((-12*hn+6)/pow(pow(hn,2)+pow(1-hn,2),(3/2)))+(((6*hn-3)*pow(4*hn-2,2))/(4*pow(2*pow(hn,2)+1+2*hn,(5/2))));


    hnext=hn-(f2/(fp1-(fp2*f2/2*fp1)));
    if  (abs(hnext-hn)<epsi)
    {

        cout<<"the  root    is"<<hnext;
        return  hnext;
    }
    else    hn=hnext;
}
}




void ortho(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{
    if (V[h+1][k]==-1&&M[h+1][k]==0)
        C[h+1][k]=1;
    if(V[h-1][k]==-1&&M[h-1][k]==0)
        C[h-1][k]=1;
    if (V[h][k+1]==-1&&M[h][k+1]==0)
        C[h][k+1]=1;
    if (V[h][k-1]==-1&&M[h][k-1]==0)
        C[h][k-1]=1;
        return;

}
void inter1(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{ float y=0,z=0; float x=0;
    if(M[h-1][k]==0&&M[h][k+1]==0)
    {
        y=C[h-1][k];  z=C[h][k+1];
        x=root(z,y);
        C[h-1][k+1]=x*z+(1-x)*y+sqrt(pow(x,2)+pow(1-x,2));

    }
else if (M[h-1][k]==0&&M[h][k+1]!=0)
    C[h-1][k+1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k+1]==0)
    C[h-1][k+1]=C[h][k+1]+1;
else cout<<"find solution!"<<endl;
return;
}
void (double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{ float l=0,f=0; float x=0;
    if(M[h-1][k]==0&&M[h][k-1]==0)
    {
        l=C[h-1][k];  f=C[h][k-1];
        x=root(f,l);
        C[h-1][k-1]=x*f+(1-x)*l+sqrt(pow(x,2)+pow(1-x,2));

    }
else if (M[h-1][k]==0&&M[h][k-1]!=0)
    C[h-1][k-1]=C[h-1][k]+1;
else if (M[h-1][k]!=0&&M[h][k-1]==0)
    C[h-1][k-1]=C[h][k-1]+1;
else cout<<"find solution!"<<endl;
return;
}

void inter3(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{ float t=0,w=0; float x=0;
    if(M[h][k+1]==0&&M[h+1][k]==0)
    {
        t=C[h][k+1];  w=C[h+1][k];
        x=root(t,w);
        C[h+1][k+1]=x*t+(1-x)*w+sqrt(pow(x,2)+pow(1-x,2));

    }
else if (M[h][k+1]==0&&M[h+1][k]!=0)
    C[h+1][k+1]=C[h][k+1]+1;
else if (M[h][k+1]!=0&&M[h+1][k]==0)
    C[h+1][k+1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}

void inter4(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{ float d=0,e=0; float x=0;
    if(M[h][k-1]==0&&M[h+1][k]==0)
    {
        d=C[h][k-1];  e=C[h+1][k];
        x=root(d,e);
        C[h+1][k-1]=x*d+(1-x)*e+sqrt(pow(x,2)+pow(1-x,2));

    }
else if (M[h][k-1]==0&&M[h+1][k]!=0)
    C[h+1][k-1]=C[h][k-1]+1;
else if (M[h][k-1]!=0&&M[h+1][k]==0)
    C[h+1][k-1]=C[h+1][k]+1;
else cout<<"find solution!"<<endl;
return;
}


void corner(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k)
{
 if (V[h-1][k+1]==-1&&M[h-1][k+1]==0 )
    inter1(V,C,M,h,k);
 if (V[h-1][k-1]==-1&&M[h-1][k-1]==0 )
    inter2(V,C,M,h,k);
 if (V[h+1][k+1]==-1&&M[h+1][k+1]==0 )
    inter3(V,C,M,h,k);
 if (V[h+1][k-1]==-1&&M[h+1][k-1]==0 )
    inter4(V,C,M,h,k);
    return;
}







int main()
{
    int i,j,h=0,k=0;
    for (i=0;i<m;i++)
    {
       for (j=0;j<n;j++)
       {
           C[i][j]=0;
            V[i][j]=-1;
       }
    }
    int M[3][3]={{0,0,1},{0,0,0},{0,0,0}};
    int ag=2; int bg=2;

    for (i=0;i<=ag;i++)
    {
        for (j=0;j<=n-1-bg;j++)
        {
            if (V[ag-i][bg+j]==-1&&M[ag-i][bg+j]==0)
            {
                h=ag-i;  k=bg+j;
                ortho(V,C,M,h,k);
                corner(V,C,M,h,k);
                V[h][k]=1;
            }
        }
    }
     for (i=0;i<=m-1-ag;i++)
    {
        for (j=0;j<=n-1-bg;j++)
        {
            if (V[ag+i][bg+j]==-1&&M[ag+i][bg+j]==0)
            {
                h=ag+i;  k=bg+j;
                ortho(V,C,M,h,k);
                corner(V,C,M,h,k);
                V[h][k]=1;
            }
        }
    }
     for (i=0;i<=ag;i++)
    {
        for (j=0;j<=bg;j++)
        {
            if (V[ag-i][bg-j]==-1&&M[ag-i][bg-j]==0)
            {
                h=ag-i;  k=bg-j;
                ortho(V,C,M,h,k);
                corner(V,C,M,h,k);
                V[h][k]=1;
            }
        }
    }
     for (i=0;i<=m-1-ag;i++)
    {
        for (j=0;j<=bg;j++)
        {
            if (V[ag+i][bg-j]==-1&&M[ag+i][bg-j]==0)
            {
                h=ag+i;  k=bg-j;
                ortho(V,C,M,h,k);
                corner(V,C,M,h,k);
                V[h][k]=1;
            }
        }
    }
    for(i=0;i<4;i++)
    {
        for(j=0;j<4;j++)
        {
            cout<<C[i][j];
        }
    }
}
nadurraXII (60)
Line 85 will need a matching prototype.

void (double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k);

these go outside the function.

and also name your function....
void someName(double V[SIZEM][SIZEN],double M[SIZEM][SIZEN],double C[SIZEM][SIZEN],int h,int k);

review this quick tutorial on how to pass the arrays and let me know if you need helf putting them into a structure.

http://www.learncpp.com/cpp-tutorial/65-multidimensional-arrays/
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