Examples with MoveAction spacesettlers.actions.MoveAction used on opensource projects

Example 6 with MoveAction

use of spacesettlers.actions.MoveAction in project spacesettlers by amymcgovern.

the class TestMoveAction method testpdControlOrientToGoal.

/**
 * Test orienting in both directions
 *
 * (40, 40)
 * 			(50,50)
 * (40, 60)
 *
 * @throws SpaceSettlersActionException
 */
@Test
public void testpdControlOrientToGoal() throws SpaceSettlersActionException {
    // first to -3pi/4
    Position currentLoc = new Position(50, 50);
    Position goalLoc = new Position(40, 40);
    moveAction = new MoveAction();
    double accel = moveAction.pdControlOrientToGoal(space, goalLoc, currentLoc, 0);
    Movement movement = new Movement();
    while (Math.abs(accel) > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setAngularAccleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlOrientToGoal(space, goalLoc, currentLoc, 0);
    }
    assertEquals(currentLoc.getOrientation(), -(3 * Math.PI) / 4, 0.01);
    // then to 3pi/4
    currentLoc = new Position(50, 50);
    currentLoc.setOrientation(0);
    goalLoc = new Position(40, 60);
    accel = moveAction.pdControlOrientToGoal(space, goalLoc, currentLoc, 0);
    movement = new Movement();
    while (Math.abs(accel) > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setAngularAccleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlOrientToGoal(space, goalLoc, currentLoc, 0);
    }
    assertEquals(currentLoc.getOrientation(), (3 * Math.PI) / 4, 0.01);
}