void test_verify_1()
{
cout << "Verify Test 1" << endl;
vector<int> res1 (100);
vector<int> res2 (100);
cout << "res1 == res2: " << TestEnvironment::verify(res1, res2) << endl;
vector<int> res3 (50);
vector<int> res4 (100);
cout << "res3 == res4: " << TestEnvironment::verify(res3, res4) << endl;
cout << endl;
}
void SIMPLE_Agents::get_IR_reading( vector <double> &_reading){
double x,z,X,Z,rotation = 0.0;
this->pos = this->get_pos();
double y = pos[1] + 0.011;
btMatrix3x3 m = btMatrix3x3(body->getWorldTransform().getRotation());
double rfPAngle = btAsin(-m[1][2]);
if ( rfPAngle < SIMD_HALF_PI ) {
if ( rfPAngle > -SIMD_HALF_PI ) rotation = btAtan2(m[0][2],m[2][2]);
else rotation = -btAtan2(-m[0][1],m[0][0]);
}
else rotation = btAtan2(-m[0][1],m[0][0]);
// IR0 reading
x = pos[0]+((robot_radius) * cos(-rotation + 0.3)); //calc IR sensor X based on robot radius
z = pos[2]+((robot_radius) * sin(-rotation + 0.3));
from1[0] = btVector3(x, y, z); //sensor position based on robot rotation vector to hold btVector
X = x+((IR_range) * cos(-rotation + 0.3 )); //calc IR ray end position based on IR range and placement of sensor on the robot
Z = z+((IR_range) * sin(-rotation + 0.3 ));
to1[0] = btVector3( X, y, Z ); //Max reading pos of the IR based on rotation and IR range
btCollisionWorld::ClosestRayResultCallback res0(from1[0], to1[0]); //struct for the closest ray callback
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res0.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[0], to1[0], res0); //check for ray collision between the coords sets
if(res0.hasHit()){
_reading[0] = IR_range*res0.m_closestHitFraction ;
to1[0]=res0.m_hitPointWorld; //update the vector with the btVector results -> used to render it in openGL
}
// IR7 reading
x = pos[0]+((robot_radius) * cos(-rotation - 0.3));
z = pos[2]+((robot_radius) * sin(-rotation - 0.3));
from1[1] = btVector3(x, y, z);
X = x+((IR_range) * cos(-rotation - 0.3 ));
Z = z+((IR_range) * sin(-rotation - 0.3 ));
to1[1] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res7(from1[1], to1[1]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res7.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[1], to1[1], res7);
if(res7.hasHit()){
_reading[1] = IR_range*res7.m_closestHitFraction;
to1[1]=res7.m_hitPointWorld;
}
// IR1 reading corrospond to epuck
x = pos[0]+((robot_radius) * cos(-rotation + 0.8));
z = pos[2]+((robot_radius) * sin(-rotation + 0.8));
from1[2] = btVector3(x, y, z);
X = x+((IR_range) * cos(-rotation + 0.8 ));
Z = z+((IR_range) * sin(-rotation + 0.8 ));
to1[2] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res1(from1[2], to1[2]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res1.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[2], to1[2], res1);
if(res1.hasHit()){
_reading[2] = IR_range*res1.m_closestHitFraction;
to1[2]=res1.m_hitPointWorld;
}
// IR6 reading
x = pos[0]+((robot_radius) * cos(-rotation - 0.8));
z = pos[2]+((robot_radius) * sin(-rotation - 0.8));
from1[3] = btVector3(x, y, z);
X = x+((IR_range) * cos(-rotation - 0.8 ));
Z = z+((IR_range) * sin(-rotation - 0.8 ));
to1[3] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res6(from1[3], to1[3]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res6.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[3], to1[3], res6);
if(res6.hasHit()){
_reading[3] = IR_range*res6.m_closestHitFraction;
to1[3]=res6.m_hitPointWorld;
}
// IR2 reading
x = pos[0]+((0.028) * cos(-rotation + 1.57));
z = pos[2]+((0.028) * sin(-rotation + 1.57));
from1[4] = btVector3(x, y, z);
X = x+((0.049) * cos(-rotation + 1.57 ));
Z = z+((0.049) * sin(-rotation + 1.57));
to1[4] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res2(from1[4], to1[4]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res2.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[4], to1[4], res2);
if(res2.hasHit()){
_reading[4] = 0.049*(res2.m_closestHitFraction) - 0.009;
to1[4]=res2.m_hitPointWorld;
}
// IR5 reading
x = pos[0]+((0.028) * cos(-rotation - 1.57));
z = pos[2]+((0.028) * sin(-rotation - 1.57));
from1[5] = btVector3(x, y, z);
X = x+((0.049) * cos(-rotation - 1.57 ));
Z = z+((0.049) * sin(-rotation - 1.57 ));
to1[5] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res5(from1[5], to1[5]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res5.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[5], to1[5], res5);
if(res5.hasHit()){
_reading[5] = 0.049*res5.m_closestHitFraction - 0.009;
to1[5]=res5.m_hitPointWorld;
}
// IR3 reading
x = pos[0]+((robot_radius) * cos(-rotation + 2.64));
z = pos[2]+((robot_radius) * sin(-rotation + 2.64));
from1[6] = btVector3(x, y, z);
X = x+((IR_range) * cos(-rotation + 2.64 ));
Z = z+((IR_range) * sin(-rotation + 2.64 ));
to1[6] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res3(from1[6], to1[6]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res3.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[6], to1[6], res3);
if(res3.hasHit()){
_reading[6] = IR_range*res3.m_closestHitFraction;
to1[6]=res3.m_hitPointWorld;
}
// IR4 reading
x = pos[0]+((robot_radius) * cos(-rotation - 2.64));
z = pos[2]+((robot_radius) * sin(-rotation - 2.64));
from1[7] = btVector3(x, y, z);
X = x+((IR_range) * cos(-rotation - 2.64 ));
Z = z+((IR_range) * sin(-rotation - 2.64 ));
to1[7] = btVector3( X, y, Z );
btCollisionWorld::ClosestRayResultCallback res4(from1[7], to1[7]);
//uncomment below line if you experience any ray pentration problem to the object this might happened with very slow machine
//res4.m_flags = 0xFFFFFFFF;
this->world->rayTest(from1[7], to1[7], res4);
if(res4.hasHit()){
_reading[7] = IR_range*res4.m_closestHitFraction;
to1[7]=res4.m_hitPointWorld;
}
// for( int i = 0; i < num_IR_sensors; i++){
// printf(" \nIR%d distance reading= %f ",i,_reading[i]);
// }
//calibrating distance to IR value reading according to a line equations
for(int i = 0; i < num_IR_sensors; i++){
if (_reading[i] > 0.03 && _reading[i] <= 0.04)
_reading[i] = -20600 * _reading[i] + 924;
else if (_reading[i] > 0.02 && _reading[i] <= 0.03)
_reading[i] = -37000 * _reading[i] + 1416;
else if (_reading[i] > 0.01 && _reading[i] <= 0.02)
_reading[i] = -153500 * _reading[i] + 3746;
else if (_reading[i] > 0.005 && _reading[i] <= 0.01)
_reading[i] = -252600 * _reading[i] + 4737;
else if (_reading[i] >= 0.0 && _reading[i] <= 0.005 )
_reading[i] = -124200 * _reading[i] + 4095;
}
// for( int i = 0; i < num_IR_sensors; i++){
// printf("\n IR%d distance reading= %f ",i,_reading[i]);
// }
// take_occupancy_reading(_reading, get_rotation(), get_pos()[0], get_pos()[2] );
}
