public void SimualteGrid(IGridModelSimulator sim, GridCarModelInput input, double timestep)
{
GridCarModelState gcms;
sim.SimulateModel(GridCarModelState.FromCarModelState(model.state), input, timestep, out gcms);
model.state = GridCarModelState.ToCarModelState(gcms);
}
public static GridObstacleState FromObstacleState(ObstacleState obst, GridCarModelState state)
{
double d = ComMath.Normal(Math.Sqrt(obst.pp.position.X * obst.pp.position.X + obst.pp.position.Y * obst.pp.position.Y), GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double a = ComMath.Normal(state.TargetDist, GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, 1);
double ang = Math.PI - (Math.Atan2(obst.pp.position.Y, obst.pp.position.X) + Math.PI) + state.TargetAngle - state.TargetFinishAngle;
if (ang > Math.PI)
{
ang -= 2 * Math.PI;
}
if (ang < -Math.PI)
{
ang += 2 * Math.PI;
}
double AA = -2 * d * Math.Cos(ang);
double BB = d * d;
double obstdist = Math.Sqrt(a * a + BB + AA * a);
double obstang = state.TargetAngle + Math.Sign(ang) * Math.Acos((a * a + obstdist * obstdist - d * d) / (2 * a * obstdist));
GridObstacleState gos = new GridObstacleState(obstdist, obstang, obst.radius);
return(gos);
}
