/*
* Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
*
* This program is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your option) any later
* version.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
* details.
*
* You should have received a copy of the GNU General Public License along with
* this program; if not, write to the Free Software Foundation, Inc., 59 Temple
* Place, Suite 330, Boston, MA 02111-1307 USA
*
* -----------------------------------------------------------------------------
* $Author: sioulseuguh $
* $Date: 2005/03/17 17:55:54 $ $Revision: 1.6 $ $Source: /cvsroot/simbad/src/simbad/demo/BaseDemo.java,v $
*/
package simbad.demo;
import javax.vecmath.Vector3d;
import simbad.sim.*;
/** A basic demo with a Line sensor.
* The robot follow the black line.
*
*/
public class LineDemo extends Demo {
public class Robot extends Agent {
LineSensor linesensor;
CameraSensor camera;
public Robot (Vector3d position, String name) {
super(position,name);
// Add sensors
linesensor = RobotFactory.addLineSensor(this);
// Add camera
camera = RobotFactory.addCameraSensor(this);
camera.rotateZ(-Math.PI/4);
}
/** Initialize Agent's Behavior*/
public void initBehavior() {
// nothing particular in this case
}
/** Perform one step of Agent's Behavior */
public void performBehavior() {
if (linesensor.hasHit(0)) {
setTranslationalVelocity(0.1);
setRotationalVelocity(Math.PI/4);
}
else if (linesensor.hasHit(4)) {
setTranslationalVelocity(0.1);
setRotationalVelocity(-Math.PI/4);
}
else if (linesensor.hasHit(1) && linesensor.hasHit(2) && linesensor.hasHit(3)) {
setTranslationalVelocity(0.5);
setRotationalVelocity(0);
}
else {
setTranslationalVelocity(0.1);
setRotationalVelocity(-Math.PI/4);
}
}
}
public LineDemo() {
light1IsOn = true;
light2IsOn = false;
Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
w1.rotate90(1);
add(w1);
Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
w2.rotate90(1);
add(w2);
Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
add(w3);
Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
add(w4);
Line l1 = new Line(new Vector3d(0, 0, 0), 2, this);
l1.rotate90(1);
add(l1);
Line l2 = new Line(new Vector3d(2, 0, 0), 2, this);
add(l2);
Line l3 = new Line(new Vector3d(-2, 0, 2), 4, this);
l3.rotate90(1);
add(l3);
Line l4 = new Line(new Vector3d(-2, 0, -2), 4, this);
add(l4);
Line l5 = new Line(new Vector3d(-2, 0, -2), 6, this);
l5.rotate90(1);
add(l5);
Line l6 = new Line(new Vector3d(4, 0, -2), 6, this);
add(l6);
Line l7 = new Line(new Vector3d(-4, 0, 4), 8, this);
l7.rotate90(1);
add(l7);
Line l8 = new Line(new Vector3d(-4, 0, -4), 8, this);
add(l8);
Line l9 = new Line(new Vector3d(-4, 0, -4), 10, this);
l9.rotate90(1);
add(l9);
Line l10 = new Line(new Vector3d(6, 0, -4), 10, this);
add(l10);
Line l11 = new Line(new Vector3d(-6, 0, 6), 12, this);
l11.rotate90(1);
add(l11);
Line l12 = new Line(new Vector3d(-6, 0, -6), 12, this);
add(l12);
Line l13 = new Line(new Vector3d(-6, 0, -6), 13, this);
l13.rotate90(1);
add(l13);
add(new Robot(new Vector3d(0, 0, 0), "robot 1"));
}
}