103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
#include "Perception.h"
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#include "Angle.h"
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#include "DistanceSensor.h"
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#include "Switch.h"
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#include <math.h>
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Perception::Perception() {}
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Perception::Perception(Placement *sensors, unsigned int sensorCount) {
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this->sensorCount = sensorCount;
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this->sensorPlacements = (Placement *)sensors;
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}
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unsigned int Perception::GetSensorCount() { return this->sensorCount; }
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Sensor *Perception::GetSensor(unsigned int sensorId) {
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if (sensorId >= this->sensorCount)
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return nullptr;
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Thing *thing = this->sensorPlacements[sensorId].thing;
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if (thing->IsSensor())
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return (Sensor *)thing;
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return nullptr;
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}
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float Perception::GetDistance(float direction, float range) {
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float minDistance = INFINITY;
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if (range < 0)
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range = -range;
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for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
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Placement placement = sensorPlacements[sensorIx];
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// This still needs support for angles wrapping around 180 degrees !!!!
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if (placement.horizontalDirection > direction - range &&
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placement.horizontalDirection < direction + range) {
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Thing *thing = placement.thing;
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if (thing == nullptr)
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continue;
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if (thing->type == Thing::DistanceSensorType) {
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DistanceSensor *distanceSensor = (DistanceSensor *)thing;
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if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
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minDistance = fmin(minDistance, distanceSensor->GetDistance());
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}
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}
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}
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return minDistance;
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}
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float Perception::GetDistance(float horizontalDirection,
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float verticalDirection, float range) {
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float minDistance = INFINITY;
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if (range < 0)
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range = -range;
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for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
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Placement placement = sensorPlacements[sensorIx];
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// This still needs support for angles wrapping around 180 degrees !!!!
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if (placement.horizontalDirection > horizontalDirection - range &&
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placement.horizontalDirection < horizontalDirection + range &&
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placement.verticalDirection > verticalDirection - range &&
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placement.verticalDirection < verticalDirection + range) {
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Thing *thing = placement.thing;
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if (thing == nullptr)
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continue;
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if (thing->type == Thing::DistanceSensorType) {
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DistanceSensor *distanceSensor = (DistanceSensor *)thing;
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if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
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minDistance = fmin(minDistance, distanceSensor->GetDistance());
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}
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}
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}
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return minDistance;
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}
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bool Perception::ObjectNearby(float direction, float range) {
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if (range < 0)
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range = -range;
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for (unsigned int sensorIx = 0; sensorIx < this->sensorCount; sensorIx++) {
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Placement placement = sensorPlacements[sensorIx];
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if (placement.horizontalDirection > direction - range &&
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placement.horizontalDirection < direction + range) {
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Thing *thing = placement.thing;
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if (thing == nullptr)
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continue;
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if (thing->type == Thing::DistanceSensorType) {
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DistanceSensor *distanceSensor = (DistanceSensor *)thing;
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if (distanceSensor != nullptr && distanceSensor->ObjectNearby())
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return true;
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} else if (thing->type == Thing::SwitchType) {
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Switch *switchSensor = (Switch *)thing;
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if (switchSensor != nullptr && switchSensor->IsOn())
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return true;
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}
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}
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}
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return false;
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}
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