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robot.cc
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robot.cc
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//fichier robot.cc, THEVENOZ Julien et MANEFF Lucas
#include <iostream>
#include <fstream>
#include <cmath>
#include <cstdlib>
#include <ctime>
#include "robot.h"
#include "constantes.h"
#include "gisement.h"
using namespace std;
void Robot::set_visited(bool v){
visited = v;
}
void Robot::set_connected(bool c){
connected = c;
}
void Robot::setDp(double new_dp){
dp = new_dp;
}
void Robot::setGoal(Point new_goal){
goal.x = new_goal.x;
goal.y = new_goal.y;
}
void Robot::setReached(bool r){
reached = r;
}
void Robot::affiche_link_voisins() const{
for(auto voiz : voisins)
displayLine(pos, voiz->getPos());
}
void Robot::clear_voisins(){
voisins.clear();
}
void Robot::addVoisin(Robot* ptr_rob){
voisins.push_back(ptr_rob);
}
void Robot::move_to(Point goal){
pos.x = goal.x;
pos.y = goal.y;
}
bool Robot::on_goal() {
if(pointsEqual(pos, goal)){
reached = true;
return true;
}else{
return false;
}
}
bool Robot::dead() const{
//ce corps sert uniquement à éviter
return false; //un warning pour la méthode virtuelle
}
bool Robot::getFound() const{
//ce corps sert uniquement à éviter
return false; //un warning pour la méthode virtuelle
}
double Robot::getCap() const{
//ce corps sert uniquement à éviter
return false; //un warning pour la méthode virtuelle
}
bool Robot::getRetour() const{
//ce corps sert uniquement à éviter
return false; //un warning pour la méthode virtuelle
}
Gis_info Robot::getGis_info() const{
//ce corps sert uniquement à éviter
return {{0,0},0,0}; //un warning pour la méthode virtuelle
}
void Prospector::setFound(bool f){
found = f;
}
bool Prospector::dead() const{
if(dp >= maxD_prosp)
return true;
return false;
}
void Prospector::save(std::ofstream& fichier) const{
fichier<<uid<<" "<<dp<<" "<<pos.x<<" "<<pos.y<<" "<<goal.x<<" "<<goal.y<<" "
<<reached<<" "<<retour<<" "<<found<<" "<<gisement.x<<" "<<gisement.y
<<" "<<rad_gis<<" "<<cap_gis<<" #Prospector"<<endl;
}
void Prospector::set_gisement(Point center, double rad, double cap){
gisement = center;
rad_gis = rad;
cap_gis = cap;
}
void Prospector::autonomous(Point center){
if(found and reached and pointsEqual(pos, center)){
found = false;
reached = false;
double n(rand() % 360);
double alpha((n/360)*2*M_PI);
goal.x = pos.x + cos(alpha)*20;
goal.y = pos.y + sin(alpha)*20;
}
vector<Gisement*> gis_tab_ptr = getGisement_tab_ptr();
for(auto gis_ptr : gis_tab_ptr){
if(inCircle(pos, {gis_ptr->getX(), gis_ptr->getY(), gis_ptr->getRad()})){
found = true;
gisement = {gis_ptr->getX(), gis_ptr->getY()};
rad_gis = gis_ptr->getRad();
cap_gis = gis_ptr->getCap();
}
}
Vect path_vect;
double d(makeVector(pos, goal, path_vect));
double alpha(atan2(path_vect.y, path_vect.x));
if(found){
goal.x = center.x;
goal.y = center.y;
reached = false;
}else{
goal.x = pos.x + cos(alpha)*20;
goal.y = pos.y + sin(alpha)*20;
reached = false;
}
if(d < deltaD)
finalStep(d);
else
intermediateStep(d, alpha);
}
void Prospector::finalStep(double d){
dp += d;
move_to(normalize(goal));
reached = true;
}
void Prospector::intermediateStep(double d, double alpha){
dp += deltaD;
Point intermediateGoal({pos.x + cos(alpha)*deltaD, pos.y + sin(alpha)*deltaD});
move_to(normalize(intermediateGoal));
}
void Prospector::afficher_robot(bool link, bool range, int couleur){
displayTriangle(pos,couleur,found);
if(range)
displayRayonCom({pos.x, pos.y, rayon_comm});
if(link)
affiche_link_voisins();
}
double Forage::getCap() const{
double capacity (verif_capacity(pos));
return capacity;
}
bool Forage::dead() const{
if(dp >= maxD_forage){
return true;
}
return false;
}
void Forage::save(std::ofstream& fichier) const{
fichier<<uid<<" "<<dp<<" "<<pos.x<<" "<<pos.y<<" "<<goal.x<<" "<<goal.y<<" "
<<reached<<" #Forage"<<endl;
}
void Forage::autonomous(Point center){
Vect path_vect;
double d(makeVector(pos, goal, path_vect));
double alpha(atan2(path_vect.y, path_vect.x));
if(d < deltaD){
dp += d;
move_to(normalize(goal));
reached = true;
}else{
dp += deltaD;
Point intermediateGoal({pos.x + cos(alpha)*deltaD, pos.y + sin(alpha)*deltaD});
move_to(normalize(intermediateGoal));
}
}
void Forage::afficher_robot(bool link, bool range, int couleur){
displayCroix(pos, couleur);
if(range)
displayRayonCom({pos.x, pos.y, rayon_comm});
if(link)
affiche_link_voisins();
}
void Transport::setRetour(bool r){
retour = r;
}
bool Transport::dead() const{
if(dp >= maxD_transp){
return true;
}
return false;
}
void Transport::save(std::ofstream& fichier) const{
fichier<<uid<<" "<<dp<<" "<<pos.x<<" "<<pos.y<<" "<<goal.x<<" "<<goal.y<<" "
<<reached<<" "<<retour<<" #Transport"<<endl;
}
void Transport::autonomous(Point center){
if(retour){
goal.x = center.x;
goal.y = center.y;
reached = false;
}
Vect path_vect;
double d(makeVector(pos, goal, path_vect));
double alpha(atan2(path_vect.y, path_vect.x));
if(d < deltaD){
dp += d;
move_to(normalize(goal));
reached = true;
}else{
dp += deltaD;
Point intermediateGoal({pos.x + cos(alpha)*deltaD, pos.y + sin(alpha)*deltaD});
move_to(normalize(intermediateGoal));
}
}
void Transport::afficher_robot(bool link, bool range, int couleur){
displayCarre(pos, couleur, retour);
if(range)
displayRayonCom({pos.x, pos.y, rayon_comm});
if(link)
affiche_link_voisins();
}
bool Communication::dead() const{
if(dp >= maxD_com){
return true;
}
return false;
}
void Communication::save(std::ofstream& fichier) const{
fichier<<uid<<" "<<dp<<" "<<pos.x<<" "<<pos.y<<" "<<goal.x<<" "<<goal.y<<" "
<<reached<<" #Communication"<<endl;
}
void Communication::autonomous(Point center){
Vect path_vect;
double d(makeVector(pos, goal, path_vect));
double alpha(atan2(path_vect.y, path_vect.x));
if(d < deltaD){
dp += d;
move_to(normalize(goal));
reached = true;
}else{
dp += deltaD;
Point intermediateGoal({pos.x + cos(alpha)*deltaD, pos.y + sin(alpha)*deltaD});
move_to(normalize(intermediateGoal));
}
}
void Communication::afficher_robot(bool link, bool range, int couleur){
displayPoint(pos, couleur);
if(range)
displayRayonCom({pos.x, pos.y, rayon_comm});
if(link)
affiche_link_voisins();
}