From 3e969a393963cee8f2f70df2ca18c389709f1eb8 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 10:35:37 +0100
Subject: [PATCH] Cleanup

---
 Perception.cpp | 140 -------------------------------------------------
 1 file changed, 140 deletions(-)

diff --git a/Perception.cpp b/Perception.cpp
index c193cda..c277f22 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -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) {