/// <summary>
/// Start task method
/// </summary>
/// <param name="r"></param>
public void StartTask(Robot r)
{
r.ClearSuitcase();
if (placeAtHome)
{
suitcase.Move(home.GetX(), home.GetY(), home.GetZ() - 2.3);
}
else
{
suitcase.Move(home.GetX(), home.GetY(), home.GetZ());
}
}
/// <summary>
/// Completes the task
/// </summary>
/// <param name="a"></param>
/// <returns></returns>
public bool TaskComplete(Airplane a)
{
bool Complete = Math.Round(a.x, 1) == Math.Round(destination.GetX(), 1) && Math.Round(a.z, 1) == Math.Round(destination.GetZ(), 1);
if (Complete && liftOff && Flying)
{
a.Move(-152.5, 54.3, -15);
}
// Trigger robots when on point 2 (home)
if (Complete && !liftOff && !Flying)
{
a.SetLanded(true);
}
return(Complete);
}
/// <summary>
/// Task complete method
/// </summary>
/// <param name="r"></param>
/// <returns></returns>
public bool TaskComplete(Robot r)
{
bool complete = (suitcase.x == r.x && suitcase.y == r.y + 0.3 && suitcase.z == r.z);
if (complete)
{
walkingHome = false;
if (bringHome)
{
suitcase.x = home.GetX();
suitcase.y = home.GetY();
suitcase.z = home.GetZ();
}
}
return(complete);
}
/// <summary>
/// Change direction
/// </summary>
/// <param name="coordinateToGo"></param>
private void ChangeDirection(Coordinate coordinateToGo)
{
double degrees90 = Math.PI / 2;
double degrees180 = Math.PI;
if ((Math.Round(coordinateToGo.GetX(), 1) > Math.Round(this.x, 1) || Math.Round(coordinateToGo.GetX(), 1) < Math.Round(this.x, 1)) && !xRotated)
{
this.Rotate(0, degrees90, 0);
xRotated = true;
zRotated = false;
}
else if ((Math.Round(coordinateToGo.GetZ(), 1) > Math.Round(this.z, 1) || Math.Round(coordinateToGo.GetZ(), 1) < Math.Round(this.z, 1)) && !zRotated)
{
this.Rotate(0, degrees180, 0);
zRotated = true;
xRotated = false;
}
}
/// <summary>
/// Place suitcases in the world
/// </summary>
/// <param name="coordinates"></param>
private void PlaceSuitcases(List <Coordinate> coordinates)
{
foreach (Coordinate c in coordinates)
{
if (c.CanBeOccupied())
{
occupationList.Add(c);
}
}
int totalSuitcases = 8;
Random rnd = new Random();
for (int i = 0; i < totalSuitcases; i++)
{
int r = rnd.Next(occupationList.Count);
Coordinate c = occupationList[r];
c.GiveSuitcase(CreateSuitcase(c.GetX(), c.GetY(), c.GetZ()));
occupationList.RemoveAt(r);
}
}
/// <summary>
/// Task complete method
/// </summary>
/// <param name="r"></param>
/// <returns></returns>
public bool TaskComplete(Robot r)
{
return(Math.Round(r.x, 1) == Math.Round(destination.GetX(), 1) && Math.Round(r.z, 1) == Math.Round(destination.GetZ(), 1));
}