-
Notifications
You must be signed in to change notification settings - Fork 0
/
sim_util.c
165 lines (146 loc) · 3.93 KB
/
sim_util.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
/**
* Contains functions to help with simulation, including loading the simulated
* maze and generating depths based on that simulated setup.
*/
#include "mapkin.h"
/**
* Fills in an array of integer depths (assumed to be 640 integers, for a
* Kinect) with some generated sequence of numbers.
*/
void generateFixedDepths(int* depths)
{
int i;
for(i=0; i<640; i++)
{
depths[i] = 240;
}
}
/**
* Reads the depths from the sim maze
*/
void generateDepths(int* maze, pose2D* cur_pos, int* depths)
{
int i;
float a, x, y, m, m2;
float theta;
for(i=0; i<640; i++)
{
theta = (((float)i)-320) / 320 * MAX_ANGLE;
theta += cur_pos->theta;
putAngleInBounds(&theta);
// Calculate the line in point-slope form
if(fabs(cos(theta)) < 0.0005)
m = 10000000;
else
m = sin(theta)/cos(theta);
if(fabs(sin(theta)) < 0.0005)
m2 = 10000000;
else
m2 = cos(theta)/sin(theta);
// determine quadrant
int xSign = 1;
int ySign = 1;
if(theta < PI && theta >= PI / 2)
{
xSign = -1;
}
else if(theta < 3*PI / 2 && theta >= PI)
{
xSign = ySign = -1;
}
else if(theta < 2*PI && theta >= 3*PI/2)
{
ySign = -1;
}
for(a=0; ; a+=.3)
{
int gridX, gridY;
// Use x if the line is more horizontal
if(abs(m) <= 1)
{
x = xSign * a + cur_pos->x;
y = m*(x - cur_pos->x) + cur_pos->y;
}
else
{
y = ySign * a + cur_pos->y;
x = m2*(y - cur_pos->y) + cur_pos->x;
}
gridX = (-(x/CELL_WIDTH) + (GRIDSIZE/2) - .5);
gridY = (-(y/CELL_WIDTH) + (GRIDSIZE/2) - .5);
if(gridX < 0 || gridX >= GRIDSIZE || gridY < 0 || gridY >= GRIDSIZE)
{
depths[i] = -1;
break;
}
if(maze[XYtoIDX(gridX, gridY)] == 1)
{
depths[i] = sqrt(((x-cur_pos->x)*(x-cur_pos->x)) + ((y-cur_pos->y)*(y-cur_pos->y)));
break;
}
}
}
}
/**
* Draws a sample maze for simulation runs.
* TODO: this doesn't work. Why?
*/
/*void loadMaze(int* maze)
{
int i, j, a;
for(i=0; i<GRIDSIZE; i++)
{
for(j=0; j<GRIDSIZE; j++)
{
maze[XYtoIDX(i,j)] = 0;
}
}
// Draw borders
for(a=0; a<GRIDSIZE; a++)
{
maze[XYtoIDX(0,a)] = 1;
maze[XYtoIDX(GRIDSIZE-1,a)] = 1;
maze[XYtoIDX(a,0)] = 1;
maze[XYtoIDX(a, GRIDSIZE-1)] = 1;
}
// Draw some walls
for(a=0; a<80; a++)
{
// horizontal
maze[XYtoIDX(80,a)] = 1;
maze[XYtoIDX(80,a+160)] = 1;
maze[XYtoIDX(80,a+240)] = 1;
maze[XYtoIDX(160,a+240)] = 1;
maze[XYtoIDX(240,a)] = 1;
maze[XYtoIDX(320,a+80)] = 1;
maze[XYtoIDX(240,a+240)] = 1;
maze[XYtoIDX(320,a)] = 1;
maze[80][a] = 1;
maze[80][a+160] = 1;
maze[80][a+240] = 1;
maze[160][a+240] = 1;
maze[240][a] = 1;
maze[320][a+80] = 1;
maze[240][a+240] = 1;
maze[320][a] = 1;
// vertical
maze[(a+80)*GRIDSIZE + 80] = 1;
maze[(a)*GRIDSIZE + 160] = 1;
maze[XYtoIDX(a+160, 240)] = 1;
maze[XYtoIDX(a+320, 240)] = 1;
maze[XYtoIDX(a+80, 320)] = 1;
maze[XYtoIDX(a+240, 320)] = 1;
maze[XYtoIDX(a+80,80)] = 1;
maze[XYtoIDX(a,160)] = 1;
maze[XYtoIDX(a+160,240)] = 1;
maze[XYtoIDX(a+320,240)] = 1;
maze[XYtoIDX(a+80,320)] = 1;
maze[XYtoIDX(a+240,320)] = 1;
maze[a+80][80] = 1;
maze[a][160] = 1;
maze[a+160][240] = 1;
maze[a+320][240] = 1;
maze[a+80][320] = 1;
maze[a+240][320] = 1;
}
}*/