/*
* This function doesn't take a random number each time, instead it adds a smaller random number to the existing speed and heading.
*/
public override void calculateNextMove(DoublePoint robotPosition, double speed, DoublePoint heading, List <Robot> neighbors, out double referenceSpeed, out DoublePoint referenceHeading)
{
this.heading = heading;
this.position = robotPosition;
referenceSpeed = speed + (2 * random.NextDouble() - 1) * this.maxSpeed / 10;
referenceHeading = ControlStrategy.ang2Point(ControlStrategy.point2Ang(heading) + this.maxAngSpeed * (2 * random.NextDouble() - 1));
borderAvoidance.calculateNextMove(robotPosition, referenceSpeed, referenceHeading, neighbors, out referenceSpeed, out referenceHeading);
}
