Ejemplo n.º 1
0
        // Rates how close the given configuration at the end of the path is to the desired ending configuration.
        // This function values the first point higher than the rest and has a maximum of 100
        public static double rateConfiguration(configuration wantedConfiguration, configuration givenConfiguration)
        {
            double distance;

            double[] distances = new double[Variables.vehicle_size - 1];
            double   rating    = 100;

            // Distance between first axle of wanted and given configuration ("start" and "end" point of our path)
            EZPathFollowing.LinePathPart line = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(0), givenConfiguration.getPoint(0), false, 0, 0);
            distance = line.pathlength();

            // If the distance of start and end is over 100 the path is so bad we don't even care anymore about the rest
            if (distance < 100)
            {
                // Iterates over all axles except the first one and writes the distance to distances[i - 1]
                for (int i = 1; i < Variables.vehicle_size; i++)
                {
                    line             = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(i), givenConfiguration.getPoint(i), false, 0, 0);
                    distances[i - 1] = line.pathlength();
                }
                // The rating is 50% distance between the start/end point and 50% the average distance between all other points
                rating = (distance + average(distances)) / 2;
            }

            // Makes sure the rating does not go above 100. This could happen if the distances between the other points of the configuration are > 100 but the
            // Distance between the 0 axles are not.
            if (rating > 100)
            {
                rating = 100;
            }

            // Returns rating, which is either 100 (worst case value) if distance is > 100 or the average of all distances.
            // Thus 100 is the worst and the lower the number the better
            return(rating);
        }
Ejemplo n.º 2
0
        // Rates how close the given configuration at the end of the path is to the desired ending configuration
        public static double rateConfigurationNoMaximum(configuration wantedConfiguration, configuration givenConfiguration)
        {
            double distances;
            double rating;

            EZPathFollowing.LinePathPart line = null;

            line = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(0), givenConfiguration.getPoint(0), false, 0, 0);

            distances = line.pathlength();

            rating = distances;

            return(rating);
        }
Ejemplo n.º 3
0
        // Rates how close the given configuration at the end of the path is to the desired ending configuration.
        // This function values the first point higher than the rest and has a maximum of 100
        public static double rateConfiguration(configuration wantedConfiguration, configuration givenConfiguration)
        {
            double distance;
            double[] distances = new double[Variables.vehicle_size - 1];
            double rating = 100;

            // Distance between first axle of wanted and given configuration ("start" and "end" point of our path)
            EZPathFollowing.LinePathPart line = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(0), givenConfiguration.getPoint(0), false, 0, 0);
            distance = line.pathlength();

            // If the distance of start and end is over 100 the path is so bad we don't even care anymore about the rest
            if (distance < 100)
            {
                // Iterates over all axles except the first one and writes the distance to distances[i - 1]
                for (int i = 1; i < Variables.vehicle_size; i++)
                {
                    line = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(i), givenConfiguration.getPoint(i), false, 0, 0);
                    distances[i - 1] = line.pathlength();
                }
                // The rating is 50% distance between the start/end point and 50% the average distance between all other points
                rating = (distance + average(distances)) / 2;
            }

            // Makes sure the rating does not go above 100. This could happen if the distances between the other points of the configuration are > 100 but the
            // Distance between the 0 axles are not.
            if (rating > 100)
                rating = 100;

            // Returns rating, which is either 100 (worst case value) if distance is > 100 or the average of all distances.
            // Thus 100 is the worst and the lower the number the better
            return rating;
        }
Ejemplo n.º 4
0
        // Rates how close the given configuration at the end of the path is to the desired ending configuration
        public static double rateConfigurationNoMaximum(configuration wantedConfiguration, configuration givenConfiguration)
        {
            double distances;
            double rating;
            EZPathFollowing.LinePathPart line = null;

            line = new EZPathFollowing.LinePathPart(wantedConfiguration.getPoint(0), givenConfiguration.getPoint(0), false, 0, 0);

            distances = line.pathlength();

            rating = distances;

            return rating;
        }