Diff: ActiveCell.h

Revision:

4:6ebe8982de0e

Child:

6:1c84602323c8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ActiveCell.h	Mon May 06 17:15:52 2019 +0000
@@ -0,0 +1,71 @@
+#ifndef UNTITLED2_ACTIVECELL_H
+#define UNTITLED2_ACTIVECELL_H
+#include <iostream>
+#include <iomanip>
+#include <math.h>
+
+class ActiveCell {
+public:
+    //cell dimension = 5x5cm
+    int cellVal;
+    float forceX;
+    float forceY;
+    float distance;
+    int xt, yt;
+    static const float repulsiveForce = 20;
+    //robots position
+    int x0;
+    int y0;
+    ///////////VFH//////////////
+    static const int a=70,b=2;
+    float angle;
+    float amplitude;
+    int sectorK;
+    //resolution - if changing change also secVal in main & calcSectors
+    static const int res=10;
+
+    ActiveCell(){
+        angle=0;
+        amplitude=0;
+        sectorK=0;
+        cellVal=0;
+        forceX=0;
+        forceY=0;
+        x0=0;
+        y0=0;
+    }
+
+
+    void calForce() {
+        forceX = (repulsiveForce * cellVal / pow(distance, 2)) * (xt - x0) / distance;
+        forceY = (repulsiveForce * cellVal / pow(distance, 2)) * (yt - y0) / distance;
+        amplitude = cellVal*cellVal*(a-b*distance);
+    }
+//Calculating distance from the robot 
+    void calDist(int idX, int idY) {
+        if (idX < 5) {
+            xt = x0 - (5 - idX) * 5;
+        } else if (idX == 5) {
+            xt = x0;
+        } else {
+            xt = x0 + (idX - 5) * 5;
+        }
+        if (idY > 5) {
+            yt = y0 - (5 - idY) * 5;
+        } else if (idY == 5) {
+            yt = y0;
+        } else {
+            yt = y0 + (idY - 5) * 5;
+        }
+        distance = sqrt(pow((float)abs(x0 - xt), 2) + pow((float)abs(y0 - yt), 2));
+        
+        //////angle/////////////
+        angle = atan2((float)yt-y0,(float)xt-x0)*180/3.14159265358979323846f;
+        sectorK=angle/res;
+        if(sectorK<0)
+            sectorK=36+sectorK;
+    }
+};
+
+
+#endif //UNTITLED2_ACTIVECELL_H