void FoeReaper4000RobotCpp::hitWallWithSideAndAngle(RobotWallHitSide::RobotWallHitSide side, float hitAngle)
{
this->cancelActiveAction();
RWSize areaSize = arenaDimensions();
switch (side)
{
case RobotWallHitSide::FRONT:
{
float x = generateRandomNumber(areaSize.width/4,areaSize.width/4*3);
float y = 0.0f;
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::REAR:
{
float x = generateRandomNumber(areaSize.width/4,areaSize.width/4*3);
float y = areaSize.height;
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::LEFT:
{
float x = 0.0;
float y = generateRandomNumber(areaSize.height/4, areaSize.height/4*3);
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::RIGHT:
{
float x = areaSize.width;
float y = generateRandomNumber(areaSize.height/4, areaSize.height/4*3);
int angle = (int) angleBetweenHeadingDirectionAndWorldPosition(RWVec(x, y));
randomWalk(angle,angle,150,200);
}
break;
case RobotWallHitSide::NONE:
break;
}
}
void FoeReaper4000RobotCpp::bulletHitEnemy(RWVec enemyPosition)
{
this->cancelActiveAction();
lastEnemyPos = enemyPosition;
keepStay = true;
randomWalk();
}
void FoeReaper4000RobotCpp::run()
{
while (true)
{
randomWalk();
}
}
void LandingTabuSearch<TTabuSearch, TSolution>::run(const size_t numberOfSteps)
{
// 1. create random solutions via randomWalk procedure
std::srand(unsigned (time(0)));
std::vector<TSolution> randomSolutions;
for (size_t i = 0; i < numberOfLandings; ++i)
{
randomSolutions.emplace_back(randomWalk(bestSolution, depth, data.getNumberOfServers(), data.getNumberOfDisks()));
}
// 2. ditribute random solution
auto task = [&randomSolutions, numberOfSteps](TTabuSearch tabuSearch, size_t idx) -> void
{
tabuSearch.setStartSolution(randomSolutions[idx]);
tabuSearch.run(numberOfSteps);
assert(idx >= 0 && idx < randomSolutions.size());
randomSolutions[idx] = tabuSearch.getBestSolution();
};
std::vector<std::future<void>> futures(numberOfLandings - 1);
for (size_t i = 0; i < futures.size(); ++i)
{
futures[i] = scheduler->schedule(task, tabuSearch, i);
}
tabuSearch.run(numberOfSteps);
randomSolutions.back() = tabuSearch.getBestSolution();
// 3. gather results and choise best solution
for (auto& future : futures) { future.get(); }
auto best = std::min_element(randomSolutions.begin(), randomSolutions.end());
bestSolution = *best;
}
bool SampleSAT::walk()
{
int ca;
if(ssdebug == true){
printf("step:%3d\n",step_);
}
step_++;
if(sat_->getNumSat() > numClause){
printf("illigal sat clause: %d / %d\n",sat_->getNumSat(),numClause);
}
if(sat_->getGrand() < ssparams_->walksatProb){
if(sat_->getGrand() < ssparams_->randomWalkProb){
ca = randomWalk();
if(ca == -1){
return false;
}
}else ca = greedyWalk();
}else{
ca = simAnnealing();
if(ca == -1){
return false;
}
}
if(ssdebug == true){
printModels();
}
if(sat_->getNumSat() == numClause){
return true;
}
return false;
}
void FoeReaper4000RobotCpp::scannedRobotAtPosition(RWVec position)
{
this->cancelActiveAction();
lastEnemyPos = position;
keepStay = true;
randomWalk();
}
//if got hit, make a random move
void FoeReaper4000RobotCpp::gotHit() {
//TODO: if enemy is in the area of scanner, do not move to enemy?
keepStay = false;
randomWalk(0,360,150,200);
}
