root / branches / colonetmk2 / code / projects / swarm / BOMPosRender / src / BOMPosServer.java @ 1456
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import java.awt.*; |
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import java.io.*; |
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import java.net.*; |
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import java.util.Arrays; |
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import java.util.Scanner; |
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import java.util.Vector; |
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import javax.swing.JApplet; |
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public class BOMPosServer extends JApplet implements Runnable { |
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private static final long serialVersionUID = 0L; |
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private boolean running; |
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class Client implements Runnable { |
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final Socket socket; |
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Scanner stream;
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public Client(Socket s) throws IOException |
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{
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this.socket = s;
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this.stream = new Scanner(this.socket.getInputStream()); |
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new Thread(this).run(); |
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} |
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public void close() |
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{
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try {
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socket.close(); |
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} catch (IOException e) { |
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e.printStackTrace(); |
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} |
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} |
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public void run() |
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{
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System.out.println("Client connected"); |
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try {
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SensorReading[] readings = new SensorReading[16]; |
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int robot = -1; |
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int source, dest = -1; |
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while(this.socket.isConnected()) |
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{
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while(!"st".equals(stream.next())) |
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System.out.println("bad token"); |
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source = stream.nextInt(); |
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int destp = stream.nextInt();
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if (dest >= destp || robot != source)
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{
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if (robot > 0) |
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{
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updateMap(robot, readings); |
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BOMPosServer.this.repaint(); |
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} |
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Arrays.fill(readings, null); |
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robot = source; |
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} |
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dest = destp; |
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float dir = stream.nextInt()*2.0f*(float)Math.PI/160.0f; |
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int dist = stream.nextInt();
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//System.out.print(source + " " + dest + " " + dir + " " + dist + "\n");
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if (dir > Math.PI*2) |
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readings[dest] = null;
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else
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readings[dest] = new SensorReading(dir, dist);
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BOMPosServer.this.readings[source][dest] = readings[dest]; |
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} |
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} catch (Exception e) { |
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e.printStackTrace(); |
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try {
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this.socket.close();
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} catch (IOException ex) {} |
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} |
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System.out.println("Client exit"); |
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} |
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} |
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ServerSocket server;
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Vector<Client> clients;
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@Override
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public void run() { |
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try {
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/*while(!server.isClosed())
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{
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Socket s = server.accept();
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clients.add(new Client(s));
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}*/
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while (running)
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{
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new Client(new Socket("localhost", 2000)).run(); |
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} |
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} catch (IOException e) { |
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e.printStackTrace(); |
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} |
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/*positions[0].th = 0;
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float a = 0.0f;
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while(running)
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{
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repaint();
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readings[0][1] = new SensorReading(a, 2);
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a += Math.PI/20;
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try {
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Thread.sleep(50);
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} catch (InterruptedException e) {}
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}*/
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} |
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@Override
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public void init() { |
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setSize(400, 400); |
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clients = new Vector<Client>(); |
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/*try {
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server = new ServerSocket(2000);
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} catch (IOException e) {
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e.printStackTrace();
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}*/
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running = true;
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new Thread(this).start(); |
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} |
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@Override
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public void stop() { |
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for(Client c : clients) {
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c.close(); |
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} |
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} |
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@Override
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public void paint(Graphics g) |
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{
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g.clearRect(0, 0, getWidth(), getHeight()); |
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for(int i=0; i<16; i++) |
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{
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if (Float.isNaN(positions[i].th)) continue; |
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//System.out.println(i + ": (" + positions[i].x + "," + positions[i].y + ") " + positions[i].th);
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drawBot(g, i); |
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} |
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} |
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private void drawBot(Graphics g, int i) { |
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int x = 3*positions[i].x + getWidth()/2; |
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int y = -3*positions[i].y + getHeight()/2; |
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g.drawOval(x-8, y-8, 16, 16); |
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g.drawString(String.valueOf(i), x-4, y+4); |
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for(int j=0; j<16; j++) |
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{
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if (readings[i][j]==null) continue; |
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float ang = readings[i][j].dir + positions[i].th;
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g.drawString(String.valueOf(j), x+(int)(12*Math.cos(ang)-4), y-(int)(14*Math.sin(ang)-5)); |
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} |
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if (!Float.isNaN(positions[i].th)) |
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{
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g.drawLine(x, y, (int)(x + 8*Math.cos(positions[i].th)), (int)(y - 8*Math.sin(positions[i].th))); |
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} |
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} |
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public int get_num_robots() |
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{
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return 3; |
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} |
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static class SensorReading |
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{
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public float dir; |
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public int dist; |
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public SensorReading(float dir, int dist) |
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{
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this.dir = dir;
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this.dist = dist;
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} |
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} |
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SensorReading[][] readings = new SensorReading[16][16]; |
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static class R2 |
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{
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public int x; |
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public int y; |
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public float th; |
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public R2(int x, int y, float th) |
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{
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this.x = x;
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this.y = y;
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this.th = th;
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} |
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} |
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static R2[] positions; |
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static {
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positions = new R2[16]; |
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for(int i=0; i<16; i++) |
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positions[i] = new R2(0, 0, Float.NaN); |
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} |
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public void updateMap(int robot, SensorReading[] readings) |
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{
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float a = 0.0f; |
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int count = 0; |
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for(int target=0; target<16; target++) |
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{
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if (readings[target] == null) continue; |
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a += (Math.atan2(positions[target].y - positions[robot].y, positions[target].x - positions[robot].x) - readings[target].dir + 4*Math.PI) % (2*Math.PI); |
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count++; |
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} |
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if (count > 0) |
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{
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a /= count; |
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} |
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positions[robot].th = /*robot==1 ? 0 :*/ a;
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for(int target=0; target<16; target++) |
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{
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if (readings[target] == null) continue; |
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if (readings[target].dist < 2) continue; |
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if (readings[target].dist > 200) continue; |
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/*System.out.println(target + " " + readings[target].dist + " " + readings[target].dir + " (" +
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readings[target].dist*Math.cos(readings[target].dir) + "," + readings[target].dist*Math.sin(readings[target].dir) + ")");*/
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int scale = 2 * get_num_robots(); // readings[target].dist/5; |
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positions[target].x = ( (scale-1)*positions[target].x + (int)(readings[target].dist*Math.cos(positions[robot].th + readings[target].dir)) )/scale; |
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positions[target].y = ( (scale-1)*positions[target].y + (int)(readings[target].dist*Math.sin(positions[robot].th + readings[target].dir)) )/scale; |
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} |
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System.out.println(robot + ": (" + positions[robot].x + "," + positions[robot].y + ") " + positions[robot].th); |
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} |
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} |