Examples with Movement spacesettlers.utilities.Movement used on opensource projects

Example 11 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class AbstractAction method getMovement.

/**
 * Calls the abstract getMovement with supplied timeout for response. If
 * nothing is returned in that time, simple return DoNothingAction (new Movement())
 *
 * @return
 */
public Movement getMovement(Toroidal2DPhysics space, Ship ship, int timeout) {
    ExecutorService executor = Executors.newSingleThreadExecutor();
    Future<Movement> future = executor.submit(new SpacewarActionCallable(this, space, ship));
    Movement movement = null;
    try {
        // start
        movement = future.get(timeout, TimeUnit.MILLISECONDS);
    // finished in time
    } catch (TimeoutException e) {
        // was terminated
        // return no movement
        movement = new Movement();
    } catch (InterruptedException e) {
        // we were interrupted (should not happen but lets be good programmers)
        // return no movement
        movement = new Movement();
        e.printStackTrace();
    } catch (ExecutionException e) {
        // the executor threw and exception (should not happen but lets be good programmers)
        // return no movement
        movement = new Movement();
    }
    executor.shutdownNow();
    return movement;
}

Example 12 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestMoveAction method testpdControlMoveToGoal.

/**
 * Test moving to the goal
 *
 * (40, 40)
 * 			(50,50)
 * (40, 60)
 *
 * @throws SpaceSettlersActionException
 */
@Test
public void testpdControlMoveToGoal() throws SpaceSettlersActionException {
    // first to -3pi/4
    Position currentLoc = new Position(50, 50);
    Position goalLoc = new Position(40, 40);
    currentLoc.setOrientation(-(3 * Math.PI) / 4);
    moveAction = new MoveAction();
    Vector2D accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    Movement movement = new Movement();
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), -(3 * Math.PI) / 4, 0.01);
    assertEquals(currentLoc.getX(), 40, 0.05);
    assertEquals(currentLoc.getY(), 40, 0.05);
    // then to 3pi/4
    currentLoc = new Position(50, 50);
    currentLoc.setOrientation(0);
    goalLoc = new Position(40, 60);
    currentLoc.setOrientation((3 * Math.PI) / 4);
    accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), (3 * Math.PI) / 4, 0.01);
    assertEquals(currentLoc.getX(), 40, 0.05);
    assertEquals(currentLoc.getY(), 60, 0.05);
}

Example 13 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestMoveAction method testpdControlMoveToAlongX.

/**
 * Test moving to the goal
 *
 * (30, 50) 	(50,50)  (70, 50)
 *
 * @throws SpaceSettlersActionException
 */
@Test
public void testpdControlMoveToAlongX() throws SpaceSettlersActionException {
    // first positive x (60,50)
    Position currentLoc = new Position(50, 50);
    Position goalLoc = new Position(70, 50);
    currentLoc.setOrientation(0);
    moveAction = new MoveAction();
    Vector2D accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    Movement movement = new Movement();
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), 0, 0.01);
    assertEquals(currentLoc.getX(), 70, 0.05);
    assertEquals(currentLoc.getY(), 50, 0.05);
    // then to the negative x
    currentLoc = new Position(50, 50);
    currentLoc.setOrientation(0);
    goalLoc = new Position(30, 50);
    currentLoc.setOrientation(-Math.PI);
    accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), -Math.PI, 0.01);
    assertEquals(currentLoc.getX(), 30, 0.05);
    assertEquals(currentLoc.getY(), 50, 0.05);
}

Example 14 with Movement

use of spacesettlers.utilities.Movement 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);
}

Example 15 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestMoveActionWithOrientation method testpdControlMoveToAlongX.

/**
 * Test moving to the goal
 *
 * (30, 50) 	(50,50)  (70, 50)
 *
 * @throws SpaceSettlersActionException
 */
@Test
public void testpdControlMoveToAlongX() throws SpaceSettlersActionException {
    // first positive x (60,50)
    Position currentLoc = new Position(50, 50);
    Position goalLoc = new Position(70, 50);
    currentLoc.setOrientation(0);
    moveAction = new MoveActionWithOrientation();
    Vector2D accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    Movement movement = new Movement();
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), 0, 0.01);
    assertEquals(currentLoc.getX(), 70, 0.05);
    assertEquals(currentLoc.getY(), 50, 0.05);
    // then to the negative x
    currentLoc = new Position(50, 50);
    currentLoc.setOrientation(0);
    goalLoc = new Position(30, 50);
    currentLoc.setOrientation(-Math.PI);
    accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), -Math.PI, 0.01);
    assertEquals(currentLoc.getX(), 30, 0.05);
    assertEquals(currentLoc.getY(), 50, 0.05);
}