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implemented PathFollowerMoveStrategy.java #28

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schrom01 merged 4 commits from PathFollowerMoveStrategy into main 2022-03-23 10:09:35 +01:00
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1 changed files with 59 additions and 37 deletions
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src/main/java/ch/zhaw/pm2/racetrack/strategy/PathFollowerMoveStrategy.java
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@ -13,12 +13,30 @@ import java.util.Scanner;
* The PathFollowerMoveStrategy class determines the next move based on a file containing points on a path.
*/
public class PathFollowerMoveStrategy implements MoveStrategy {
/**
* The current Position of the car.
*/
private PositionVector currentPosition;
/**
* The current Velocity of the car.
*/
private PositionVector currentVelocity;
/**
* List of all points on the path.
*/
private ArrayList<PositionVector> pointList;
/**
* The index of the next point on the path.
*/
private int pointer;
/**
* Constructer to create a new PathFollowerMoveStrategy for a car.
* @param path The location where the file is saved
* @param startPosition The start position of the car
* @throws FileNotFoundException If the file with the given path does not exist.
*/
public PathFollowerMoveStrategy(String path, PositionVector startPosition) throws FileNotFoundException {
pointList = new ArrayList<>();
pointer = 0;
@ -27,6 +45,11 @@ public class PathFollowerMoveStrategy implements MoveStrategy {
currentVelocity = new PositionVector(0, 0);
}
/**
* Method to read the given File and add the points to the pointList
* @param trackFile the File Object which should be read
* @throws FileNotFoundException If the file with the given path does not exist.
*/
public void readFile(File trackFile) throws FileNotFoundException {
Scanner scanner = new Scanner(new FileInputStream(trackFile), "UTF-8");
while (scanner.hasNextLine()) {
@ -36,61 +59,60 @@ public class PathFollowerMoveStrategy implements MoveStrategy {
}
}
/**
* Method to select the direction for the next move.
* @return The direction for the next move. null if there are no points left in the list.
*/
@Override
public Direction nextMove() {
// if no more points in the list --> return null
if (pointer >= pointList.size()) {
return null;
}
int accelerationX = 0;
int accelerationY = 0;
// increase pointer variable if the next point is reached.
if (pointList.get(pointer).equals(currentPosition)) {
pointer ++;
}
if(currentVelocity.getX() > 0){
accelerationX = -1;
} else if(currentVelocity.getX() < 0) {
accelerationX = 1;
}
if(currentVelocity.getY() > 0){
accelerationY = -1;
} else if(currentVelocity.getY() < 0) {
accelerationY = 1;
}
// calculate Vector from current Position to next Point
PositionVector movementVector = new PositionVector(pointList.get(pointer).getX() - currentPosition.getX(), pointList.get(pointer).getY() - currentPosition.getY());
if(movementVector.getX() > 0 && movementVector.getX()/2.0 > currentVelocity.getX()) {
accelerationX = 1;
// select acceleration for X
int accelerationX;
if((movementVector.getX() == 0 && currentVelocity.getX() > 0) || //reduce velocity to 0 if the destination coordinate is reached
(movementVector.getX() > 0 && movementVector.getX()/2.0 <= currentVelocity.getX()) || //increase velocity
(movementVector.getX() < 0 && movementVector.getX()/2.0 < currentVelocity.getX())){ //reduce velocity
accelerationX = -1;
} else if((movementVector.getX() == 0 && currentVelocity.getX() < 0) || //reduce velocity to 0 if the destination coordinate is reached
(movementVector.getX() > 0 && movementVector.getX()/2.0 > currentVelocity.getX()) || //increase velocity
(movementVector.getX() < 0 && movementVector.getX()/2.0 >= currentVelocity.getX())) { //reduce velocity
accelerationX = 1;
}
else if(movementVector.getX() > 0 && movementVector.getX()/2.0 <= currentVelocity.getX()) {
accelerationX = -1;
}
else if(movementVector.getX() < 0 && movementVector.getX()/2.0 < currentVelocity.getX()) {
accelerationX = -1;
}
else if(movementVector.getX() < 0 && movementVector.getX()/2.0 >= currentVelocity.getX()) {
accelerationX = 1;
else { //no acceleration
accelerationX = 0;
}
if(movementVector.getY() > 0 && movementVector.getY()/2.0 > currentVelocity.getY()) {
accelerationY = 1;
// select acceleration for Y
int accelerationY;
if((movementVector.getY() == 0 && currentVelocity.getY() > 0) || //reduce velocity to 0 if the destination coordinate is reached
(movementVector.getY() > 0 && movementVector.getY()/2.0 <= currentVelocity.getY()) || //increase velocity
(movementVector.getY() < 0 && movementVector.getY()/2.0 < currentVelocity.getY())){ //reduce velocity
accelerationY = -1;
} else if((movementVector.getY() == 0 && currentVelocity.getY() < 0) || //reduce velocity to 0 if the destination coordinate is reached
(movementVector.getY() > 0 && movementVector.getY()/2.0 > currentVelocity.getY()) || //increase velocity
(movementVector.getY() < 0 && movementVector.getY()/2.0 >= currentVelocity.getY())) { //reduce velocity
accelerationY = 1;
}
else if(movementVector.getY() > 0 && movementVector.getY()/2.0 <= currentVelocity.getY()) {
accelerationY = -1;
}
else if(movementVector.getY() < 0 && movementVector.getY()/2.0 < currentVelocity.getY()) {
accelerationY = -1;
}
else if(movementVector.getY() < 0 && movementVector.getY()/2.0 >= currentVelocity.getY()) {
accelerationY = 1;
else { //no acceleration
accelerationY = 0;
}
//update current Velocity and current Position with the selected acceleration
currentVelocity = new PositionVector(currentVelocity.getX() + accelerationX, currentVelocity.getY() + accelerationY);
currentPosition = new PositionVector(currentPosition.getX() + currentVelocity.getX(), currentPosition.getY() + currentVelocity.getY());
//Find Direction for acceleration
PositionVector acceleration = new PositionVector(accelerationX, accelerationY);
Direction[] directions = Direction.values();
for (Direction direction : directions) {