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)
{
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");
}
