// primary constructor
public FollowerRobot(float initialX, float initialY, int interval)
: base(initialX, initialY, INITIAL_ANGLE, ACCEL, interval,
MAX_DISTANCE_PER_SECOND, Color.Red, Color.Blue)
{
Boundary = new RectangularBoundary(Center, Angle, WIDTH, HEIGHT, Color.Black);
InitializeFuzzyEngine();
}
public void CtorSetWithFourCornerPositions_SetIndexMovementCorretly()
{
var boundary = new RectangularBoundary(lt, rt, rb, lb);
var actual = lt + boundary.IndexMovement;
var expected = lb;
Assert.True(Vector3D.Equals(expected.Position, actual.Position));
Assert.True(Vector3D.Equals(expected.Rotation, actual.Rotation));
}
/// <summary>
/// Set the initial layout state such that our current margin is stored and the new margin is taken from the given rb
/// </summary>
public void SetInitialLayoutState(RectangularClusterBoundary bounds)
{
isInInitialLayoutState = true;
if (RectangularBoundary != null && bounds != null)
{
RectangularBoundary.StoreDefaultMargin();
RectangularBoundary.LeftMargin = bounds.LeftMargin;
RectangularBoundary.RightMargin = bounds.RightMargin;
RectangularBoundary.BottomMargin = bounds.BottomMargin;
RectangularBoundary.TopMargin = bounds.TopMargin;
}
}
// URscript control
private void Generate_Click(object sender, RoutedEventArgs e)
{
if ((point1 != null) && (point2 != null) && (point3 != null))
{
var scanmove = new URMovement(point1, point2);
var boundary = new RectangularBoundary(scanmove, point3);
double aperture = 0.06;
double overlap = 0.1;
var urMoves = PathPlanner.SStyle(boundary, aperture, overlap);
var safeDist = new URVector(new Vector3D(0, 0, 0.02), new Vector3D(0, 0, 0));
URScriptTextBox.Text = URScript.Generate("cscan", urMoves, safeDist);
}
}
public PathPlannerTests()
{
Point3D rotation = new Point3D(-0.5, 0, 1);
var lt = new URPose(new Point3D(-1, +1, 0), rotation);
var rt = new URPose(new Point3D(+1, +1, 0), rotation);
var lb = new URPose(new Point3D(-1, -1, 0), rotation);
var rb = new URPose(new Point3D(+1, -1, 0), rotation);
Boundary = new RectangularBoundary(lt, rt, rb, lb);
BrushThickness = 0.5;
Overlay = 0.2;
}
/// <summary>
/// Calculate cluster's RectangularBoundary to preserve the offsets calculated in initial layout, for example,
/// to allow for extra space required for non-shortest path edge routes or for labels.
/// </summary>
/// <param name="padding">amount of padding between child node bounding box and expected inner bounds</param>
internal void SetInitialLayoutState(double padding)
{
isInInitialLayoutState = true;
if (RectangularBoundary != null)
{
RectangularBoundary.StoreDefaultMargin();
var childBounds =
new Rectangle(from v in Nodes.Concat(Clusters) select v.BoundingBox);
childBounds.Pad(padding);
RectangularBoundary.LeftMargin = childBounds.Left - RectangularBoundary.Rect.Left;
RectangularBoundary.RightMargin = RectangularBoundary.Rect.Right - childBounds.Right;
RectangularBoundary.BottomMargin = childBounds.Bottom - RectangularBoundary.Rect.Bottom;
RectangularBoundary.TopMargin = RectangularBoundary.Rect.Top - childBounds.Top;
}
}
public void CtorSetWithScanMovement_SetScanMovementCorretly()
{
var scanMove = new URMovement(lt, rt);
var point = new Point3D(-0.5, -1, 0);
var pose = new URPose(point, rotation);
var boundary = new RectangularBoundary(scanMove, pose);
var actual = lt + boundary.ScanMovement;
var expected = rt;
Assert.True(Vector3D.Equals(expected.Position, actual.Position));
Assert.True(Vector3D.Equals(expected.Rotation, actual.Rotation));
}
public void CtorSetWithFourCornerPositions_SetCornerPositionsCorretly()
{
var boundary = new RectangularBoundary(lt, rt, rb, lb);
Assert.True(Vector3D.Equals(boundary.LeftTop.Position, lt.Position));
Assert.True(Vector3D.Equals(boundary.LeftTop.Rotation, lt.Rotation));
Assert.True(Vector3D.Equals(boundary.RightTop.Position, rt.Position));
Assert.True(Vector3D.Equals(boundary.RightTop.Rotation, rt.Rotation));
Assert.True(Vector3D.Equals(boundary.RightBottom.Position, rb.Position));
Assert.True(Vector3D.Equals(boundary.RightBottom.Rotation, rb.Rotation));
Assert.True(Vector3D.Equals(boundary.LeftBottom.Position, lb.Position));
Assert.True(Vector3D.Equals(boundary.LeftBottom.Rotation, lb.Rotation));
}
public void CtorSetWithScanMovement_SetCornerPositionsCorretly()
{
var scanMove = new URMovement(lt, rt);
var point = new Point3D(-0.5, -1, 0);
var pose = new URPose(point, rotation);
var boundary = new RectangularBoundary(scanMove, pose);
Assert.True(Vector3D.Equals(boundary.LeftTop.Position, lt.Position));
Assert.True(Vector3D.Equals(boundary.LeftTop.Rotation, lt.Rotation));
Assert.True(Vector3D.Equals(boundary.RightTop.Position, rt.Position));
Assert.True(Vector3D.Equals(boundary.RightTop.Rotation, rt.Rotation));
Assert.Equal(rb.Position.X, boundary.RightBottom.Position.X, precision);
Assert.Equal(rb.Position.Y, boundary.RightBottom.Position.Y, precision);
Assert.Equal(rb.Position.Z, boundary.RightBottom.Position.Z, precision);
Assert.True(Vector3D.Equals(boundary.RightBottom.Rotation, rb.Rotation));
Assert.Equal(lb.Position.X, boundary.LeftBottom.Position.X, precision);
Assert.Equal(lb.Position.Y, boundary.LeftBottom.Position.Y, precision);
Assert.Equal(lb.Position.Z, boundary.LeftBottom.Position.Z, precision);
Assert.True(Vector3D.Equals(boundary.LeftBottom.Rotation, lb.Rotation));
}
/// <summary>
/// Translates the cluster and all of it's contents by the delta.
/// </summary>
internal void DeepTranslation(Point delta, bool translateEdges)
{
DeepContentsTranslation(delta, translateEdges);
RectangularBoundary.TranslateRectangle(delta);
Center += delta;
}
