File content as of revision 3:c46f084010aa:

#include "proto01.h"

Proto1::Proto1(double accdis_, double decdis_, double maxspeed_, double s_vector_)
{
    accdis   = accdis_;
    decdis   = decdis_;
    maxspeed = maxspeed_;
    s_vector = s_vector_;
    accdis2 = accdis;
    decdis2 = decdis;
}

void Proto1::target_xy(int targetx_, int targety_, int startx_, int starty_)
{
    targetDis = hypot((float)(startx_-targetx_), (float)(starty_-targety_));
    startx  = startx_;
    starty  = starty_;
    targetx = targetx_;
    targety = targety_;
    if (targetDis > accdis+decdis) {
        accdis    = accdis2;
        decdis    = decdis2;
        middledis = targetDis - accdis - decdis;
    } else {
        maxspeed /= 2;
        accdis    = targetDis / 2;
        decdis    = targetDis / 2;
        middledis = 0;
    }
    accsec = 2.0 / maxspeed * accdis;
    decsec = 2.0 / maxspeed * decdis;
}

void Proto1::calculate(int now_x, int now_y)
{
    nowx = now_x;
    nowy = now_y;
    nowDis = hypot((startx-nowx),(starty-nowy));
    targetRad = atan2((double)(targety-nowy), (double)(targetx-nowx));

    if (nowDis < accdis) {
        counter = sqrt(2.0*accsec/maxspeed*nowDis);
        vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
    } else if (nowDis >= accdis && nowDis < accdis+middledis) {
        vector = maxspeed;
    } else if (nowDis > (accdis+middledis)) {
        counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
        vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed);
    } else {
        vector = 0;
    }
}

double Proto1::getvalue_x()
{
    return vector * cos(targetRad);
}

double Proto1::getvalue_y()
{
    return vector * sin(targetRad);
}