b_shouldwait_r.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

/*
 * b_ShouldWait_r.java
 */

package EDU.gatech.cc.is.clay;

import java.lang.*;
import java.util.Random;
import EDU.gatech.cc.is.abstractrobot.*;
import EDU.gatech.cc.is.util.Vec2;


public class b_ShouldWait_r extends NodeBoolean
{
	/** 
	 * Turn debug printing on or off.
	 */
	public static final boolean DEBUG = Node.DEBUG;
	private MultiForageN150 abstract_robot;		
	
	public static double innerRange = 3.0;
	public static double outerRange = 6.0;
	public static double safeRange  = 1.5;

	
	public b_ShouldWait_r(MultiForageN150 ar)
	{
		if (DEBUG) System.out.println("b_ShouldWait_r: instantiated");
		abstract_robot = ar;
	}

	
	public boolean Value(long timestamp)
		{
			if (DEBUG) System.out.println("b_ShouldWait_r: Value()");
			
			// if grip no food of visual class 1, return false
			if (abstract_robot.getFoodID() == -1)
				return false;
				
			// if the gripped food cann't be delivered, wait.
			if (!abstract_robot.canGetHelp())
			{	
				abstract_robot.setWaitTag(true);// set the wait tag.
				abstract_robot.setInGripper();  // empty the gripper.				
								
				//reset the position of the robot,
				Vec2 position  = new Vec2();			 
				
				// prevent the robot from overlap.				
				do {
					position.sett(Math.random()*Math.PI*2);
					position.setr(innerRange+Math.random()*(outerRange-innerRange));					
					abstract_robot.resetPosition(position);				
																
				 } while (abstract_robot.checkOverlap(safeRange));
				
				return true;				
			}
			
			return false;			
		}

}