Basic::Ubf::Action* PlaneSlowTurn::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
action = new PlaneAction();
//std::cout<<pState->getRoll()<<" "<<pState->getPitch()<<" "<<pState->getHeading()<<std::endl;
//double currentAlt = pState->getAltitude();
//double changeInAlt = currentAlt - prevAlt;
//double pitch = 1;//.5;
//action->setPitch(pitch);
double roll;
//if(pState->getPitch() >.015)
//{
// roll = -1 * pState->getRoll() - 1.25;
//}else if(pState->getPitch()< 0){
//roll = -1 * pState->getRoll() - 1.0;
//}else{
roll = -1 * pState->getRoll() - 1.047;//1.25
//}
roll *= 100;
//if(roll > 1)
// roll = 1;
action->setRoll(roll);
action->setThrottle(1.5);
action->setVote(getVote());
}
return action;
}
vector<vector <long> > readDelegateVotes(string fileName, int slots, int delegateLimit) {
std::ifstream file(fileName.c_str());
std::string str;
vector<vector <long> > votes;
votes.assign(delegateLimit, getVote(-1, slots));
while (std::getline(file, str)) {
vector<string> tokens = split(str, ' ');
int delegate = atoi(tokens[0].c_str());
int vote = atoi(tokens[1].c_str());
// cerr << delegate << " " << vote << "\n";
cerr << ".";
votes[delegate - 1] = getVote(vote, slots);
}
return votes;
}
Ctxt select(Ctxt ctxt, int value, EncryptedArray ea, const FHEPubKey& publicKey) {
PlaintextArray mask(ea);
mask.encode(getVote(value, ea.size()));
Ctxt maskCtxt(publicKey);
ea.encrypt(maskCtxt, publicKey, mask);
Ctxt ret(ctxt);
ret.multiplyBy(maskCtxt);
return ret;
}
vector<vector <long> > readVotes(string fileName, int slots) {
std::ifstream file(fileName.c_str());
std::string str;
vector<vector <long> > votes;
while (std::getline(file, str)) {
votes.push_back(getVote(atoi(str.c_str()), slots));
cerr << ".";
}
return votes;
}
Basic::Ubf::Action* PlaneFlyStraight::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
action = new PlaneAction();
//Reverse pitch to get level with the horizon
double pitch = -1 * pState->getPitch();
//For positive pitch values, multiply to counteract effects of the negative pitch rate
//of the dynamics model
if (pitch > 0) {
pitch *= 1;
}
//If below the threshold, add an amount to the pitch based on the distance below the threshold
if (pState->getAltitude() < holdingAltitude) {
pitch += ((holdingAltitude - pState->getAltitude()) / (200));
}
action->setPitch(pitch);
double roll = -1 * pState->getRoll();
roll *= 0.5;
action->setRoll(roll);
if (pState->getRoll() > 1.57 || pState->getRoll() < -1.57) {
action->setPitch(action->getPitch() * -1); //change pitch in the opposite direction if upside-down
}
//double heading = 1;
action->setHeading( pState -> getHeading() );
//double pitchTrim = 0;
action->setThrottle(0.50);
if (pState->getSpeed() < 150.0 ) {
action->setThrottle(2.0);
if (pState->getSpeed() < 110.0 )
action->setPitch(-1);
}
if (voteOnCriticalAltitude!=0 && pState->getAltitude() < criticalAltitude)
action->setVote(voteOnCriticalAltitude); // was 100
else
action->setVote(getVote());
}
return action;
}
Basic::Ubf::Action* PlaneRoll::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
double roll=1;
action = new PlaneAction();
action->setRoll(roll);
if (voteOnIncomingMissile!=0 && pState->isIncomingMissile() )
action->setVote(voteOnIncomingMissile); // was 100
else
action->setVote(getVote());
}
return action;
}
Basic::Ubf::Action* PlaneFire::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if ( pState!=0 && pState->isAlive() )
{
action = new PlaneAction();
action->setVote(getVote());
action -> setFireMissile(false);
if( pState->isTracking() && pState->getTargetTrack()<PlaneState::MAX_TRACKS )
{
if ( !pState->isMissileFired() && pState->getDistanceToTracked( pState->getTargetTrack()) < maxDistance )
{
action->setFireMissile(true);
}
}
}
return action;
}
Basic::Ubf::Action* PlaneLoop::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
action = new PlaneAction();
action->setRoll(0.0);
if(pState->getSpeed() < 600 && !keepGoing) {
action->setPitch(0);
} else {
keepGoing = true;
action->setPitch(1);
}
if (voteOnIncomingMissile!=0 && pState->isIncomingMissile() )
action->setVote(voteOnIncomingMissile); // was 75
else
action->setVote(getVote());
}
return action;
}
Basic::Ubf::Action* PlaneTrim::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
double pitchTrim = 0;
action = new PlaneAction();
if(pState->getPitch() >0.0) {
pitchTrim = -.1;
}else{
pitchTrim = .1;
}
action->setPitchTrim(pitchTrim);
if (voteOnCriticalAltitude!=0 && pState->getAltitude() < criticalAltitude)
action->setVote(voteOnCriticalAltitude); // was 100
else
action->setVote(getVote());
}
return action;
}
Basic::Ubf::Action* PlaneDive::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive()) {
double pitch;
action = new PlaneAction();
if(pState->getPitch() > -Eaagles::PI/2) {
pitch=-1;
} else {
pitch = 1;
}
action->setPitch(pitch);
if (voteOnIncomingMissile!=0 && pState->isIncomingMissile() )
action->setVote(voteOnIncomingMissile); // was 100
else
action->setVote(getVote());
}
return action;
}
Basic::Ubf::Action* PlaneFollowEnemy::genAction(const Basic::Ubf::State* const state, const LCreal dt)
{
PlaneAction* action = 0;
const PlaneState* pState = dynamic_cast<const PlaneState*>(state->getUbfStateByType(typeid(PlaneState)));
if (pState!=0 && pState->isAlive() && pState->isTracking() && pState->getTargetTrack()<PlaneState::MAX_TRACKS)
{
action = new PlaneAction();
double pitch = -1 * pState->getPitch()+ .02;// pState->getPitchToEnemy() * 10;
//For positive pitch values, multiply to counteract effects of the negative pitch rate
//of the dynamics model
if (pitch > 0)
{
pitch *= 5;
}
double roll = -1 * pState->getRoll();
unsigned int targetTrack = pState->getTargetTrack();
roll += pState->getHeadingToTracked(targetTrack) * 1;
if (pState->getRoll() < -1.57079)
{
roll = -1 * pState->getRoll() - 1.57079;
}
else if (pState->getRoll() > 1.57079)
{
roll = -1 * pState->getRoll() + 1.57079;
}
if(roll > 1.57079)
{
roll = 1.57079;
}
if(roll < -1.57079)
{
roll = -1.57079;
}
if( pState -> getDistanceToTracked( pState -> getTargetTrack() ) > 4000 )
{
action -> setThrottle( 1.0 );
if( std::abs( pState -> getHeadingToTracked( pState -> getTargetTrack() ) ) < 0.1 )
{
if( std::abs( pState -> getRoll() ) < 0.1 )
{
pitch += ( -0.5 * ( Eaagles::PI / 180.0 ) );
}
}
}
else// if( pState -> getDistanceToTracked( pState -> getTargetTrack() ) < 2000 )
{
action -> setThrottle( 0.0 );
}
action->setRoll(roll);
action->setPitch(pitch);
action->setVote(getVote());
}
return action;
}
