File content as of revision 1:85da508f8d7e:

#include "sample02.h"

Sample::Sample(double accdis_, double decdis_, double maxspeed_)
{
    accdis  =accdis_;
    decdis  =decdis_;
    maxspeed=maxspeed_;
}

void Sample::terget_xy(int tergetx_, int tergety_, int startx_, int starty_)
{
    tergetDis = hypot((float)(startx_-tergetx_), (float)(starty_-tergety_));
    if (tergetDis > accdis+decdis) {
        startx    = startx_;
        starty    = starty_;
        tergetx   = tergetx_;
        tergety   = tergety_;
        accsec    = 2.0 / maxspeed * accdis;
        decsec    = 2.0 / maxspeed * decdis;
        s_vector  = 0.1;
        middledis = tergetDis - accdis - decdis;
    }
}

void Sample::calculate(int now_x, int now_y)
{
    nowx = now_x;
    nowy = now_y;
    nowDis = hypot((startx-nowx),(starty-nowy));
    tergetRad = atan2((double)(tergety-nowy), (double)(tergetx-nowx));
    /***/
    if (nowDis < accdis) {
        
        counter = sqrt(2.0*accsec/maxspeed*nowDis);
        vector = s_vector + (-1.0 * 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*accsec/maxspeed*fabs(tergetDis-nowDis));
        vector = (-1.0 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / (2.0*PI/maxspeed);
        
    }
    /***/
}

double Sample::getvalue_x()
{
    return vector * cos(tergetRad);
}

double Sample::getvalue_y()
{
    return vector * sin(tergetRad);
}