public override void updateSensors(Environment env, List<Robot> robots, CollisionManager cm)
{
// Console.WriteLine(this.sensors.Count);
base.updateSensors(env, robots, cm);
pieSliceSensor.update(env, robots, cm);
}
public void update(Environment env, List<Robot> robots, CollisionManager cm)
{
distance = maxRange;
seePrey = false;
Point2D casted = new Point2D(owner.location);
casted.x += Math.Cos(angle + owner.heading) * maxRange;
casted.y += Math.Sin(angle + owner.heading) * maxRange;
Line2D cast = new Line2D(owner.location, casted);
foreach (Prey prey in env.preys)
{
bool found = false;
double newDistance = cast.nearest_intersection(prey.circle, out found);
if (found)
{
if (newDistance < distance)
{
distance = newDistance;
seePrey = true;
}
}
}
}
//Different from PieSliceSensorArray in that EnemyRobots are used as targets instead
// of goal points.
public void update(Engine.Environment env, List<Robot> robots, CollisionManager cm)
{
List<float> translatedEnemyAngles = new List<float>();
// Start at 1: Assume all robots after first are enemies
for (int i = 1; i < robots.Count; i++)
{
EnemyRobot er = (EnemyRobot) robots[i];
if (!er.stopped) // Only sense prey robots that are active
{
Point2D temp = new Point2D((int)er.location.x, (int)er.location.y);
temp.rotate((float)-(owner.heading), owner.circle.p); //((float)-(owner.heading * 180.0 / 3.14), owner.circle.p);
//translate with respect to location of navigator
temp.x -= (float)owner.circle.p.x;
temp.y -= (float)owner.circle.p.y;
//what angle is the vector between target & navigator
float angle = angleValue((float)temp.x, (float)temp.y);// (float)temp.angle();
translatedEnemyAngles.Add(angle);
}
}
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
for (int a = 0; a < translatedEnemyAngles.Count; a++)
{
float angle = translatedEnemyAngles[a];
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
}
}
}
//per default we use the goal point of the environment as our target point.
public void update(Engine.Environment env, List<Robot> robots, CollisionManager cm)
{
Point2D temp = new Point2D((int)env.goal_point.x, (int)env.goal_point.y);
temp.rotate((float)-(owner.heading), owner.circle.p); //((float)-(owner.heading * 180.0 / 3.14), owner.circle.p);
//translate with respect to location of navigator
temp.x -= (float)owner.circle.p.x;
temp.y -= (float)owner.circle.p.y;
//what angle is the vector between target & navigator
float angle = angleValue((float)temp.x, (float) temp.y);// (float)temp.angle();
//! angle *= 57.297f;//convert to degrees
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
//radar[i] = 0.0f;
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
//radar[i] = 1.0f;
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
// radar[i] = 1.0f;
// inputs[sim_engine.robots[0].rangefinders.Count + i] = sim_engine.radar[i];
}
}
public void update(Environment env, List <Robot> robots, CollisionManager cm)
{
}
public void update(Environment env, List<Robot> robots,CollisionManager cm)
{
}
public override void updateSensors(Environment env, List <Robot> robots, CollisionManager cm)
{
base.updateSensors(env, robots, cm);
pieSliceSensor.update(env, robots, cm);
}
public virtual void updateSensors(Environment env, List<Robot> robots,CollisionManager cm)
{
foreach (ISensor sensor in sensors) {
sensor.update(env, robots,cm);
}
}
public override void updateSensors(Environment env, List <Robot> robots, CollisionManager cm)
{
// Console.WriteLine(this.sensors.Count);
base.updateSensors(env, robots, cm);
pieSliceSensor.update(env, robots, cm);
}
public void update(Environment env, List <Robot> robots, CollisionManager cm)
{
offsetx = Math.Cos(owner.heading + delta_theta) * delta_r;
offsety = Math.Sin(owner.heading + delta_theta) * delta_r;
}
public override void updateSensors(Environment env, List<Robot> robots, CollisionManager cm)
{
base.updateSensors(env, robots, cm);
pieSliceSensor.update(env, robots, cm);
}
public void update(Environment env, List<Robot> robots,CollisionManager cm)
{
bool hitRobot;
offsetx = Math.Cos(owner.heading+delta_theta)*delta_r;
offsety = Math.Sin(owner.heading+delta_theta)*delta_r;
Point2D location = new Point2D(offsetx + owner.location.x, offsety + owner.location.y);
SimulatorObject hit;
distance = cm.Raycast(angle,max_range,location,owner,out hit);
if (hit is Robot) {
seeRobot=true;
}
else {
seeRobot=false;
}
//apply sensor noise
/*
if(noise>0.0) {
distance*= 1.0 + (noise * (owner.rng.NextDouble()-0.5)*2.0);
if(distance>max_range)
distance=max_range;
if(distance<0.0)
distance=0.0;
}
*/
Debug.Assert(!Double.IsNaN(distance), "NaN in inputs");
}
public void update(Environment env, List<Robot> robots,CollisionManager cm)
{
offsetx = Math.Cos(owner.heading+delta_theta)*delta_r;
offsety = Math.Sin(owner.heading+delta_theta)*delta_r;
}
public void update(Environment env, List<Robot> robots, CollisionManager cm)
{
int steps = robots[0].history.Count;
time = (double)steps * timestep;
}