public override void populateSensors(int size)
{
sensors = new List <ISensor>();
List <double> sensorAngles = new List <double>();
double sensorStart = -1.3398;
double sensorEnd = 1.3398;
double delta = (sensorEnd - sensorStart) / (size - 1);
double x = sensorStart;
for (int y = 0; y < size; y++)
{
sensorAngles.Add(x);//sensor_angles[y]);
x += delta;
}
foreach (double val in sensorAngles)
{
RangeFinder r = new RangeFinder(val, this, actualRange + radius, this.sensorNoise);
sensors.Add(r);
}
}
//public PackBotModel(int id, double nx, double ny, double dir,
// AgentBrain agentBrain, Environment environment,
// float sensorNoise, float effectorNoise, float headingNoise, float timeStep)
//{
// steps = 0;
// this.id = id;
// updatecounter = 0;
// path = new List<Point2D>();
// location = new Point2D(nx, ny);
// circle = new Circle2D(location, radius);
// old_location = new Point2D(location);
// radius = radius;
// heading = dir;
// velocity = 0.0;
// collide_last = false;
// this.timeStep = timeStep;
// this.environment = environment;
// this.agentBrain = agentBrain;
// this.sensorNoise = sensorNoise;
// this.effectorNoise = effectorNoise;
// this.headingNoise = headingNoise;
// populateSensors();
//}
//public override void populateSensors()
//{
// populateSensors(defaultSensorDensity());
//}
public override void populateSensors(int size)
{
sensors = new List<ISensor>();
List<double> sensorAngles = new List<double>();
double sensorStart = -1.57;
double sensorEnd = 1.57;
double delta = (sensorEnd - sensorStart) / (size - 1);
double x = sensorStart;
for (int y = 0; y < size; y++)
{
sensorAngles.Add(x);//sensor_angles[y]);
x += delta;
}
foreach (double val in sensorAngles)
{
RangeFinder r = new RangeFinder(val, this, 400.0,this.sensorNoise);
r.set_delta(30, 0.5);
sensors.Add(r);
}
}