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root / branches / colonetmk2 / code / projects / swarm / BOMPosRender / bom algo 1 save.txt @ 1456

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		for(int source=0; source<16; source++)
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		{
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			for(int dest=0; dest<source; dest++)
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			{
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				if (sensors[source][dest]==null)
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				{
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					if (sensors[dest][source]!=null)
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					{
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						sensors[source][dest] = new SensorReading(Float.NaN, sensors[dest][source].dist); 
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					}
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				}
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				else if (sensors[dest][source]==null)
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				{
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					sensors[dest][source] = new SensorReading(Float.NaN, sensors[source][dest].dist);
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				}
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				else
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				{
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					int avgdist = (sensors[source][dest].dist + sensors[dest][source].dist)/2;
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					sensors[source][dest].dist = avgdist;
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					sensors[dest][source].dist = avgdist;
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				}
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			}
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		}
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		boolean firstbot = true;
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		for(int i=0; i<16; i++)
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		{
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			for(int j=0; j<i; j++)
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			{
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				if (sensors[i][j]==null) continue;
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				if (positions[j]!=null) continue;
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				if (firstbot)
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				{
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					firstbot = false;
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					positions[i] = new R2(0, 0, 0);
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				}
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				if (positions[i]==null) continue;
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				if (Float.isNaN(positions[i].th)) continue;
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				positions[j] = new R2((int)  (positions[i].x + sensors[i][j].dist*Math.cos(positions[i].th + sensors[i][j].dir)),
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									 (int)  (positions[i].y + sensors[i][j].dist*Math.sin(positions[i].th + sensors[i][j].dir)),
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									 (float)(/*robostat[i].th + sensors[i][j].dir +*/ sensors[j][i].dir /*- Math.PI*/));
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			}
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		}
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		/*for(int i=0; i<16; i++)
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		{
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			for(int j=0; j<16; j++)
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			{
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				for(int k=0; k<16; k++)
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				{
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					if (sensors[i][j]!=null &&
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						sensors[i][k]!=null &&
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						sensors[j][k]!=null)
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					{
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					}
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				}
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			}
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		}*/