Esempio n. 1
0
        /// <summary>
        /// Navigate away from target position x, y
        /// </summary>
        public virtual Movement NaviAwayTarget(double x, double y, int maxSpd = 70, int rotateTime = 250)
        {
            this.result = base.GetWaypointAway(x, y);
            var spd = Min(this.result.speedLimit, maxSpd * this.result.speedRatio);
            var mv  = handle.Move2Target(this.result.waypoint,
                                         maxSpd: spd, rotateTime: rotateTime, tolerance: 8);

            return(mv);
        }
Esempio n. 2
0
        /// <summary>
        /// Navigate to target position with x, y
        /// </summary>
        public virtual Movement Navi2Target(double x, double y, int maxSpd = 70, int rotateTime = 250, double tolerance = 20)
        {
            this.result = base.GetWaypointTo(x, y);
            var spd = Min(this.result.speedLimit, maxSpd * this.result.speedRatio);
            var mv  = handle.Move2Target(this.result.waypoint,
                                         maxSpd: spd, rotateTime: rotateTime, tolerance: 8
                                         );

            if (ego.pos.distTo(new Vector(x, y)) <= tolerance && mv.reached)
            {
                return(mv);
            }
            else
            {
                mv.reached = false; return(mv);
            }
        }