RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Cleanup

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This commit is contained in:
Pascal Serrarens 2023-12-07 10:35:37 +01:00
parent 47dbbc5b61
commit 3e969a3939
1 changed files with 0 additions and 140 deletions
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140
Perception.cpp
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@ -24,118 +24,6 @@ Sensor *Perception::GetSensor(unsigned int sensorId) {
return nullptr;
}
/*
float Perception::DistanceForward(float angle) {
float minDistance = INFINITY;
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing;
if (sensor->IsSensor())
continue;
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
if (placement.verticalDirection > -angle &&
placement.verticalDirection < angle &&
placement.horizontalDirection > -angle &&
placement.horizontalDirection < angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance());
}
}
return minDistance;
}
float Perception::DistanceLeft(float angle) {
float minDistance = INFINITY;
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing;
if (sensor->IsSensor())
continue;
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
float sensorAngle = placement.horizontalDirection;
if (sensorAngle < 0 && sensorAngle > -angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance());
}
}
return minDistance;
}
float Perception::DistanceRight(float angle) {
float minDistance = INFINITY;
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing;
if (sensor->type != Thing::DistanceSensorType)
continue;
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
float sensorAngle = placement.horizontalDirection;
if (sensorAngle > 0 && sensorAngle < angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance());
}
}
return minDistance;
}
float Perception::DistanceUp(float angle) {
float minDistance = INFINITY;
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing;
if (sensor->IsSensor())
continue;
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
float sensorAngle = placement.verticalDirection;
if (sensorAngle > 0 && sensorAngle < angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance());
}
}
return minDistance;
}
float Perception::DistanceDown(float angle) {
float minDistance = INFINITY;
for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
Placement placement = sensorPlacements[sensorIx];
Sensor* sensor = (Sensor*)placement.thing;
if (sensor->IsSensor())
continue;
DistanceSensor* distanceSensor = (DistanceSensor*)placement.thing;
float sensorAngle = placement.verticalDirection;
if (sensorAngle < 0 && sensorAngle > -angle) {
minDistance = fmin(minDistance, distanceSensor->GetDistance());
}
}
return minDistance;
}
*/
// float Perception::GetDistance(float fromAngle, float toAngle) {
// float minDistance = INFINITY;
// if (toAngle < fromAngle)
// // Hmm. Can't look backward properly for now
// return minDistance;
// for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
// Placement placement = sensorPlacements[sensorIx];
// float angle = placement.horizontalDirection;
// if (angle > fromAngle && angle < toAngle) {
// Thing* thing = placement.thing;
// if (thing == nullptr)
// continue;
// if (thing->type == Thing::DistanceSensorType) {
// DistanceSensor* distanceSensor = (DistanceSensor*)thing;
// if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
// minDistance = fmin(minDistance, distanceSensor->GetDistance());
// }
// }
// }
// return minDistance;
// }
float Perception::GetDistance(float direction, float range) {
float minDistance = INFINITY;
@ -160,34 +48,6 @@ float Perception::GetDistance(float direction, float range) {
}
return minDistance;
}
// float Perception::GetDistance(float fromHorizontalAngle,
// float toHorizontalAngle, float
// fromVerticalAngle, float toVerticalAngle) {
// float minDistance = INFINITY;
// if (toHorizontalAngle < fromHorizontalAngle ||
// toVerticalAngle < fromVerticalAngle)
// // Hmm. Can't look backward properly for now
// return minDistance;
// for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
// Placement placement = sensorPlacements[sensorIx];
// if (placement.horizontalDirection > fromHorizontalAngle &&
// placement.horizontalDirection < toHorizontalAngle &&
// placement.verticalDirection > fromVerticalAngle &&
// placement.verticalDirection < toVerticalAngle) {
// Thing *thing = placement.thing;
// if (thing == nullptr)
// continue;
// if (thing->type == Thing::DistanceSensorType) {
// DistanceSensor *distanceSensor = (DistanceSensor *)thing;
// if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
// minDistance = fmin(minDistance, distanceSensor->GetDistance());
// }
// }
// }
// return minDistance;
// }
float Perception::GetDistance(float horizontalDirection,
float verticalDirection, float range) {