/** Creates a Line from the given start with the given length in the given direction
* This function should only be used for the first pathpart which needs a startpoint.
* All other pathparts should take their start and direction from the previous pathpart,
* see the other functions.
*
* - Direction is given in degree, starting at 3 o'clock (0) and rotating clockwise
* - Direction can be any number but should be between 0-360
* **/
public static LinePathPart line(double length, double direction, Point2D start)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
// Length is length * 2 -1 because it is generated as a random number 0-7 and then multiplied by 0.5 and added 0.5
// The original number 0-7 is needed here however for the genome
// Same for the angle. (*(-10/5))
GenomePart part = new GenomePart(false, length * 2 - 1, 0, false);
Variables.genome.add(part);
// 27 Pixels are 1 meter
length *= 27;
double directionR = direction;
// The new endpoint is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D endpoint = new Point2D(start.x + length, start.y);
// Endpoint is rotated by 'direction' around the start
endpoint = EZPathFollowing.Point2D.rotateAround(endpoint, start, directionR);
return(new LinePathPart(start, endpoint, reverse, speed, direction));
}
/**
* This function is used for all lines except the first one. It needs neither direction nor
* start since it starts at the end of the previous line/curve and also shares its direction
* **/
public static LinePathPart line(double length)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
GenomePart part = new GenomePart(false, length * 2 - 1, 0, false);
Variables.genome.add(part);
// 27 Pixels are 1 meter
length *= 27;
// Takes the start and direction from the previous pathpart
Point2D start = Variables.path.Last.Value.getEnd();
double direction = Variables.path.Last.Value.orientationDouble();
double directionR = direction;
// The new endpoint is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D endpoint = new Point2D(start.x + length, start.y);
// Endpoint is rotated by 'direction' around the start
endpoint = EZPathFollowing.Point2D.rotateAround(endpoint, start, directionR);
return(new LinePathPart(start, endpoint, reverse, speed, direction));
}
/**
* This function is used for all curves except the first one. It needs neither direction nor
* start since it starts at the end of the previous line/curve and also shares its direction
* **/
public static CirclePathPart curve(double radius, double angle, bool driveRight)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
GenomePart part = new GenomePart(true, radius * 2 - 1, ((angle * 180 / Math.PI) - 10) / 5, driveRight);
Variables.genome.add(part);
// 27 Pixels are 1 meter
radius *= 27;
// Takes the start and direction from the previous pathpart
Point2D start = Variables.path.Last.Value.getEnd();
double direction = Variables.path.Last.Value.orientationDouble();
double directionR = (direction > 180)
? 360 - direction
: direction;
// The new center is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D center = new Point2D(start.x + radius, start.y);
// Center is rotated by 'direction' around the start.
if (direction > 180)
{
center = EZPathFollowing.Point2D.rotateAroundCW(center, start, directionR);
}
else
{
center = EZPathFollowing.Point2D.rotateAround(center, start, directionR);
}
// To get the center the current center point has to be moved by 90° or -90° around the start, depending on driveRight
double rightAngle = (driveRight == true)
? Math.PI / 2
: -Math.PI / 2;
center = EZPathFollowing.Point2D.rotateAround(center, start, rightAngle);
// Initializes the endpoint
Point2D endpoint;
// Again, for driveRight = false the angles have to be reversed and angle has to be converted to radian
double angleR = (driveRight == true)
? angle
: -angle;
// Now the startpoint is rotated around the center by angle to get the endpoint
endpoint = EZPathFollowing.Point2D.rotateAround(start, center, angleR);
return(new CirclePathPart(start, endpoint, center, driveRight, reverse, speed, angle, direction));
}
/**
* This function is used for all curves except the first one. It needs neither direction nor
* start since it starts at the end of the previous line/curve and also shares its direction
* **/
public static CirclePathPart curve(double radius, double angle, bool driveRight)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
GenomePart part = new GenomePart(true, radius * 2 - 1, ((angle * 180 / Math.PI) - 10) / 5, driveRight);
Variables.genome.add(part);
// 27 Pixels are 1 meter
radius *= 27;
// Takes the start and direction from the previous pathpart
Point2D start = Variables.path.Last.Value.getEnd();
double direction = Variables.path.Last.Value.orientationDouble();
double directionR = (direction > 180)
? 360 - direction
: direction;
// The new center is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D center = new Point2D(start.x + radius, start.y);
// Center is rotated by 'direction' around the start.
if (direction > 180)
center = EZPathFollowing.Point2D.rotateAroundCW(center, start, directionR);
else
center = EZPathFollowing.Point2D.rotateAround(center, start, directionR);
// To get the center the current center point has to be moved by 90° or -90° around the start, depending on driveRight
double rightAngle = (driveRight == true)
? Math.PI / 2
: -Math.PI / 2;
center = EZPathFollowing.Point2D.rotateAround(center, start, rightAngle);
// Initializes the endpoint
Point2D endpoint;
// Again, for driveRight = false the angles have to be reversed and angle has to be converted to radian
double angleR = (driveRight == true)
? angle
: -angle;
// Now the startpoint is rotated around the center by angle to get the endpoint
endpoint = EZPathFollowing.Point2D.rotateAround(start, center, angleR);
return new CirclePathPart(start, endpoint, center, driveRight, reverse, speed, angle, direction);
}
/**
* This function is used for all lines except the first one. It needs neither direction nor
* start since it starts at the end of the previous line/curve and also shares its direction
* **/
public static LinePathPart line(double length)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
GenomePart part = new GenomePart(false, length * 2 - 1, 0, false);
Variables.genome.add(part);
// 27 Pixels are 1 meter
length *= 27;
// Takes the start and direction from the previous pathpart
Point2D start = Variables.path.Last.Value.getEnd();
double direction = Variables.path.Last.Value.orientationDouble();
double directionR = direction;
// The new endpoint is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D endpoint = new Point2D(start.x + length, start.y);
// Endpoint is rotated by 'direction' around the start
endpoint = EZPathFollowing.Point2D.rotateAround(endpoint, start, directionR);
return new LinePathPart(start, endpoint, reverse, speed, direction);
}
/** Creates a Line from the given start with the given length in the given direction
* This function should only be used for the first pathpart which needs a startpoint.
* All other pathparts should take their start and direction from the previous pathpart,
* see the other functions.
*
* - Direction is given in degree, starting at 3 o'clock (0) and rotating clockwise
* - Direction can be any number but should be between 0-360
* **/
public static LinePathPart line(double length, double direction, Point2D start)
{
// Default values, not needed right now. May need to fix later
double speed = 0.0;
bool reverse = false;
// Generates the genomePart equal to this PathPart and adds it to the genome
// Length is length * 2 -1 because it is generated as a random number 0-7 and then multiplied by 0.5 and added 0.5
// The original number 0-7 is needed here however for the genome
// Same for the angle. (*(-10/5))
GenomePart part = new GenomePart(false, length * 2 -1, 0, false);
Variables.genome.add(part);
// 27 Pixels are 1 meter
length *= 27;
double directionR = direction;
// The new endpoint is to the right of the startpoint ("3 o'clock) and will be rotated later
Point2D endpoint = new Point2D(start.x + length, start.y);
// Endpoint is rotated by 'direction' around the start
endpoint = EZPathFollowing.Point2D.rotateAround(endpoint, start, directionR);
return new LinePathPart(start, endpoint, reverse, speed, direction);
}