zone.cc

遗传算法和神经网络结合

/*
  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.

 */

#include "zone.h"
/**
 * Constructor for Zone, creates a new zone.
 * @param fp A file descriptor open for reading which contains the data for the new zone.
 */
Zone::Zone(FILE *fp){
  fscanf(fp,"zone %f %f %f\n",
	 &x,
	 &y,
	 &r);
   visit = (int*) malloc(sizeof(int)*paramNrOfRobots);
   clearVisit();
}

/**
 * Constructor for Zone, creates a new zone.
 * @param str A string which contains the data for the new zone.
 */
Zone::Zone(char *str){
  sscanf(str,"zone %f %f %f\n",
	 &x,
	 &y,
	 &r);
   visit = (int*) malloc(sizeof(int)*paramNrOfRobots);
   clearVisit();
}


/**
 * Deconstructor for Zone. Deallocates allocated memory.
 *
 */
Zone::~Zone(){
   free(visit);
}

/**
 * Check if a robot is in the zone, keeps an internal count of the number of visits.
 * @param xp The \a x coordinate of the circles center.
 * @param yp The \a y coordinate of the circles center.
 * @param robotNr Which robot that we checks if it visited the zone.
 * @return 1 if the robot is in the zone else 0.
 * @see clearVisit
 * @see visits
 */
int Zone::inZone(float xp, float yp, int robotNr){
  if(g_distPoint(xp,yp,x,y)<r){
    visit[robotNr]++;
    return 1;
  }
  else{
    return 0;
  }
}

/**
 * Clear the internal record of robots visitation.
 * @see visits
 * @see inZone
 */
void Zone::clearVisit(){
  for(int i=0; i < paramNrOfRobots; i++){
    visit[i] = 0;
  }
}

/**
 * Get the number of visits a robot has done in a zone.
 * @param robotNr Which robot.
 * @return The number of visits.
 * @todo Fix so that the number of visits only increases when a robot makes a new visit. For now each timestep will result in a new visit if the robot hasent left since it's last visit.
 * @see clearVisit
 * @see inZone
 */
int Zone::visits(int robotNr){
  return visit[robotNr];
}