void CCmodel::computeMove(Image* img)
{
Landscape* landView = _imageToLandscape(img);
float x = 0;
float y = 0;
int iBegin = _goalViewLand->at(0)->gap ? 0 : 1;
int jBegin = landView->at(0)->gap ? 0 : 1;
_gapOrLandmarkComputeMove(x, y, iBegin, jBegin, landView);
_gapOrLandmarkComputeMove(x, y, abs(iBegin - 1), abs(jBegin - 1), landView);
_x = x / (float)(_goalViewLand->size() * 2);
_y = y / (float)(_goalViewLand->size() * 2);
delete landView;
}
void DynamicRadial::computeMove(Image* img)
{
Landscape* land = _imageToLandscape(img);
std::vector<std::vector<float>* > lTable;
std::vector<std::vector<float>* > pTable;
lTable.push_back(new std::vector<float>());
pTable.push_back(new std::vector<float>());
for (int j = -1; j < (int)land->size(); j++)
{
lTable[0]->push_back(0);
pTable[0]->push_back(0);
}
for (uint i = 0; i < _goalViewLand->size(); i++)
{
lTable.push_back(new std::vector<float>());
lTable[i + 1]->push_back(0);
pTable.push_back(new std::vector<float>());
pTable[i + 1]->push_back(0);
for (uint j = 0; j < land->size(); j++)
{
float sim = _getSimilarity(_goalViewLand->at(i), land->at(j));
if (lTable[(i - 1) + 1]->at((j - 1) + 1) + sim >= lTable[i + 1]->at((j - 1) + 1) &&
lTable[(i - 1) + 1]->at((j - 1) + 1) + sim >= lTable[(i - 1) + 1]->at(j + 1))
{
lTable[i + 1]->push_back(sim + lTable[(i - 1) + 1]->at((j - 1) + 1));
pTable[i + 1]->push_back(1);
}
else if ((lTable[(i - 1) + 1]->at((j) + 1) >= lTable[i + 1]->at((j - 1) + 1)))
{
lTable[i + 1]->push_back(lTable[(i - 1) + 1]->at(j + 1));
pTable[i + 1]->push_back(2);
}
else
{
lTable[i + 1]->push_back(lTable[i + 1]->at((j - 1) + 1));
pTable[i + 1]->push_back(3);
}
}
}
_x = 0;
_y = 0;
int nbMatch = 0;
int i = _goalViewLand->size() - 1;
int j = land->size() - 1;
while (pTable[i + 1]->at(j + 1) != 0)
{
if (pTable[i + 1]->at(j + 1) == 1)
{
if((land->at(j)->center > _goalViewLand->at(i)->center))
{
_x += -sin(_goalViewLand->at(i)->center)* 5 * fabs(_goalViewLand->at(i)->center - land->at(j)->center);
_y += -cos(_goalViewLand->at(i)->center)* 5 * fabs(_goalViewLand->at(i)->center - land->at(j)->center);
}
else if((land->at(j)->center < _goalViewLand->at(i)->center))
{
_x += sin(_goalViewLand->at(i)->center)* 5 * fabs(_goalViewLand->at(i)->center - land->at(j)->center);
_y += cos(_goalViewLand->at(i)->center)* 5 * fabs(_goalViewLand->at(i)->center - land->at(j)->center);
}
//Compute Radial component
if(_goalViewLand->at(i)->size > land->at(j)->size)
{
_x += cos(_goalViewLand->at(i)->center) * 2.5 * fabs(_goalViewLand->at(i)->size - land->at(j)->size);
_y += -sin(_goalViewLand->at(i)->center) * 2.5 * fabs(_goalViewLand->at(i)->size - land->at(j)->size);
}
else if(_goalViewLand->at(i)->size < land->at(j)->size)
{
_x += -cos(_goalViewLand->at(i)->center) * 2.5 * fabs(_goalViewLand->at(i)->size - land->at(j)->size);
_y += sin(_goalViewLand->at(i)->center) * 2.5 * fabs(_goalViewLand->at(i)->size - land->at(j)->size);
}
i--;
j--;
nbMatch++;
}
else if (pTable[i + 1]->at(j + 1) == 2)
i--;
else
j--;
}
if (nbMatch != 0)
{
_x /= nbMatch;
_y /= nbMatch;
}
}
