attractorflagsim.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

/*
 * AttractorFlagSim.java
 */

package EDU.gatech.cc.is.simulation;

import java.awt.*;
import java.util.Random;
import EDU.gatech.cc.is.util.Vec2;
import EDU.gatech.cc.is.util.Units;
import EDU.gatech.cc.is.communication.Message;


/**
 * A simple flag for capture the flac simulation.
 *
 * <P>
 * Copyright (c)2000 Tucker Balch
 *
 * @author Tucker Balch
 * @version $Revision: 1.2 $
 */

public class AttractorFlagSim extends AttractorSim
	{
	/**
	 * Draw the attractor.
	 */
	public void draw(Graphics g, int w, int h,
		double t, double b, double l, double r)
		{
		top =t; bottom =b; left =l; right = r;
		
		if(picked_up != true)
			{
			double meterspp = (r - l) / (double)w;
			if (DEBUG) System.out.println("meterspp "+meterspp);
			int radius = (int)(RADIUS / meterspp);
			int xpix = (int)((position.x - l) / meterspp);
			int ypix = (int)((double)h - ((position.y - b) / meterspp));
			if (DEBUG) System.out.println("robot at"+
				" at "+xpix+","+ypix);
	
			/*--- draw the main body ---*/
			g.setColor(foreground);
			g.fillRect(xpix, ypix - radius, (radius/8), 
				radius*2);
			g.fillRect(xpix, ypix - radius, 
				(radius/2), (radius/2));
			//g.fillOval(xpix - radius, ypix - radius,
			//	radius + radius, radius + radius);
			}
		}
	}