wall.h

神经网络和遗传算法组合应用

/*
  YAKS, a Khepera simulator including a separate GA and ANN 
  (Genetic Algoritm, Artificial Neural Net).
  Copyright (C) 2000  Johan Carlsson ([e-mail])
  
  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU General Public License
  as published by the Free Software Foundation; either version 2
  of the License, or any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

 */

#ifndef WALL_H
#define WALL_H
#include <stdio.h>
#include "param.h"
#include "geom.h"

/** 
 * @class Wall wall.h
 * @brief This class implements walls.
 *
 * All walls share the same lookup table so they all look the same.
 * A robot CAN only see a wall if there exist a perpendicular vector
 * from the wall to the robot, that is there exist a line from the wall
 * so that the angle between the wall and the line is 90 degrees.
 * In order to project an edge of a wall on the robot sensors it is best
 * to place a round obstacle at the beginning and the end of the line.
 */



class Wall{
 public:
  Wall(FILE *fp);
  Wall(char *str);
  ~Wall();    
  void init(char *fileName);
  float *sensorVal(float x, float y, float kangle, float radius);
  double distR(float x, float y);
  void print();
  /** The left side \a x coordinate of the wall */
  float x1;
  /** The right side \a x coordinate of the wall */
  float x2;
  /** The left side \a y coordinate of the wall */
  float y1;
  /** The right side \a y coordinate of the wall */
  float y2;
  /** The wall angle */
  float angle;
 private:
  /** Shared lookup tanble for sensor readings*/
  static float wall[20][180][8];
  /** The \a t for the last call to distR() */
  float t;
  /** Precalced delta x \f$ dx=x2-x1 \f$ */
  float dx;
  /** Precalced delta y \f$ dy=y2-y1 \f$ */
  float dy;
  /** Precacled \f$ ddxy = dx^2+dy^2 \f$ */
  float ddxy;
  /** Shared step size, resolution for sensor values */
  static float Step;
  /** Shared obstacle range for sensors */
  static float MaxObstacleDistans;
  /** Shared distance from which obstacles gives maximum sensor values */
  static float MinObstacleDistans;
};

#endif /* WALL_H */