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fix finish-phase of opportunist-360 to avoid steep-angle-steps;

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This commit is contained in:
Christopher Ronnewinkel (D036654)
2015-04-28 13:36:08 +02:00
parent 797d3876d3
commit 4c97142b8d
3 changed files with 45 additions and 21 deletions
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java/com.sap.sailing.simulator/src/com/sap/sailing/simulator/impl/PathGenerator1Turner360.java
+5 -6
View File
@@ -34,7 +34,6 @@ public class PathGenerator1Turner360 extends PathGeneratorBase {
}
// private static Logger logger = Logger.getLogger("com.sap.sailing");
private SimulationParameters simulationParameters;
private boolean leftSide;
private result1Turn result;
private Position evalStartPoint;
@@ -45,7 +44,7 @@ public class PathGenerator1Turner360 extends PathGeneratorBase {
private double evalTolerance;
public PathGenerator1Turner360(SimulationParameters params) {
simulationParameters = params;
parameters = params;
}
public void setEvaluationParameters(boolean leftSideVal, Position startPoint, Position endPoint,
@@ -67,18 +66,18 @@ public class PathGenerator1Turner360 extends PathGeneratorBase {
public Path getPath() {
this.algorithmStartTime = MillisecondsTimePoint.now();
WindFieldGenerator windField = simulationParameters.getWindField();
PolarDiagram polarDiagram = simulationParameters.getBoatPolarDiagram();
WindFieldGenerator windField = parameters.getWindField();
PolarDiagram polarDiagram = parameters.getBoatPolarDiagram();
Position posStart;
if (this.evalStartPoint == null) {
posStart = simulationParameters.getCourse().get(0);
posStart = parameters.getCourse().get(0);
} else {
posStart = this.evalStartPoint;
}
Position posEnd;
if (this.evalEndPoint == null) {
posEnd = simulationParameters.getCourse().get(1);
posEnd = parameters.getCourse().get(1);
} else {
posEnd = this.evalEndPoint;
}
java/com.sap.sailing.simulator/src/com/sap/sailing/simulator/impl/PathGeneratorOpportunistEuclidian360.java
+32 -15
View File
@@ -28,14 +28,13 @@ import com.sap.sse.common.impl.MillisecondsTimePoint;
public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
private static Logger logger = Logger.getLogger("com.sap.sailing");
SimulationParameters simulationParameters;
int turns;
boolean startLeft;
boolean upwindLeg = false;
public PathGeneratorOpportunistEuclidian360(SimulationParameters params) {
PolarDiagram polarDiagramClone = new PolarDiagramBase((PolarDiagramBase)params.getBoatPolarDiagram());
simulationParameters = new SimulationParametersImpl(params.getCourse(), polarDiagramClone, params.getWindField(),
parameters = new SimulationParametersImpl(params.getCourse(), polarDiagramClone, params.getWindField(),
params.getSimuStep(), params.getMode(), params.showOmniscient(), params.showOpportunist(), params.getLegType());
}
@@ -64,11 +63,11 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
public Path getPath() {
this.algorithmStartTime = MillisecondsTimePoint.now();
WindFieldGenerator wf = simulationParameters.getWindField();
PolarDiagram polarDiagram = simulationParameters.getBoatPolarDiagram();
WindFieldGenerator wf = parameters.getWindField();
PolarDiagram polarDiagram = parameters.getBoatPolarDiagram();
Position startPos = simulationParameters.getCourse().get(0);
Position endPos = simulationParameters.getCourse().get(1);
Position startPos = parameters.getCourse().get(0);
Position endPos = parameters.getCourse().get(1);
TimePoint startTime = wf.getStartTime();
List<TimedPositionWithSpeed> path = new ArrayList<TimedPositionWithSpeed>();
@@ -80,7 +79,7 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
BoatDirection prevDirection = BoatDirection.NONE;
long turnLoss = polarDiagram.getTurnLoss(); // time lost when doing a turn
double fracFinishPhase = 0.05;
double fracFinishPhase = 0.075;
TimePoint travelTimeLeft;
TimePoint travelTimeRight;
@@ -92,11 +91,22 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
path.add(new TimedPositionWithSpeedImpl(startTime, startPos, wndStart));
pathStr = "0";
long timeStep = wf.getTimeStep().asMillis() / 2;
long timeStep;
if (this.parameters.getSimuStep() != null) {
// time-step larger than turn-loss is required (this may be removed by
// extended handling of turn-loss)
if (this.parameters.getSimuStep().asMillis() > 2*turnLoss) {
timeStep = this.parameters.getSimuStep().asMillis();
} else {
timeStep = 2*turnLoss;
}
} else {
timeStep = wf.getTimeStep().asMillis() / 2;
}
logger.fine("Time step :" + timeStep);
String legType = "none";
if (this.simulationParameters.getLegType() == null) {
if (this.parameters.getLegType() == null) {
Bearing bearRCWind = wndStart.getBearing().getDifferenceTo(bearStart);
legType = "downwind";
this.upwindLeg = false;
@@ -105,7 +115,7 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
this.upwindLeg = true;
}
} else {
if (this.simulationParameters.getLegType() == LegType.UPWIND) {
if (this.parameters.getLegType() == LegType.UPWIND) {
legType = "upwind";
this.upwindLeg = true;
} else {
@@ -127,8 +137,7 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
// StrategicPhase: start & intermediate course until close to target
//
turns = 0;
while ((currentHeight > 0)
&& (currentPosition.getDistance(endPos).compareTo(startPos.getDistance(endPos).scale(fracFinishPhase)) > 0)
while ((currentHeight > startPos.getDistance(endPos).getMeters()*fracFinishPhase)
&& (path.size() < 500) && (!this.isTimedOut())) {
long nextTimeVal = currentTime.asMillis() + timeStep;
@@ -279,11 +288,16 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
currentHeight = startPos.getDistance(endPos).getMeters() - posHeight.getDistance(startPos).getMeters();
}
// remove last position, if already too close to target for finish-phase
if (currentHeight < startPos.getDistance(endPos).getMeters()*fracFinishPhase/2) {
path.remove(path.size()-1);
}
if (!this.isTimedOut()) {
//
// FinishPhase: get 1-turners to finalize course
//
PathGenerator1Turner360 generator1Turner = new PathGenerator1Turner360(simulationParameters);
PathGenerator1Turner360 generator1Turner = new PathGenerator1Turner360(parameters);
TimePoint leftTurningTime;
TimePoint rightTurningTime;
if (isBaseDirectionLeft(prevDirection)) {
@@ -294,10 +308,13 @@ public class PathGeneratorOpportunistEuclidian360 extends PathGeneratorBase {
rightTurningTime = currentTime;
}
generator1Turner.setEvaluationParameters(true, currentPosition, endPos, leftTurningTime, timeStep / (5 * 3), 100, 0.05, this.upwindLeg);
long finishTimeStep = Math.max(500, timeStep / 10);
int finishStepsLeft = (int) Math.round(1.5*(path.get(path.size()-1).getTimePoint().asMillis() - path.get(0).getTimePoint().asMillis()) / (1-fracFinishPhase) * fracFinishPhase / finishTimeStep);
generator1Turner.setEvaluationParameters(true, currentPosition, endPos, leftTurningTime, finishTimeStep, finishStepsLeft, 0.05, this.upwindLeg);
Path leftPath = generator1Turner.getPath();
generator1Turner.setEvaluationParameters(false, currentPosition, endPos, rightTurningTime, timeStep / (5 * 3), 100, 0.05, this.upwindLeg);
int finishStepsRight = (int) Math.round(1.5*(path.get(path.size()-1).getTimePoint().asMillis() - path.get(0).getTimePoint().asMillis()) / (1-fracFinishPhase) * fracFinishPhase / finishTimeStep);
generator1Turner.setEvaluationParameters(false, currentPosition, endPos, rightTurningTime, finishTimeStep, finishStepsRight, 0.05, this.upwindLeg);
Path rightPath = generator1Turner.getPath();
if ((leftPath.getPathPoints() != null) && (rightPath.getPathPoints() != null)) {
java/com.sap.sailing.simulator/src/com/sap/sailing/simulator/impl/PathGeneratorTreeGrow360.java
+8
View File
@@ -656,6 +656,14 @@ public class PathGeneratorTreeGrow360 extends PathGeneratorBase {
List<PathCandidate> trgPaths = new ArrayList<PathCandidate>();
List<Position> startLine = this.parameters.getStartLine();
// generate start-line for testing
/*Bearing bearRightToStart = startPos.getBearingGreatCircle(endPos).add(new DegreeBearingImpl(80));
Position exampleLineRight = startPos.translateGreatCircle(bearRightToStart, new MeterDistance(70.0));
Position exampleLineLeft = startPos.translateGreatCircle(bearRightToStart.reverse(), new MeterDistance(70.0));
startLine = new ArrayList<Position>();
startLine.add(exampleLineLeft);
startLine.add(exampleLineRight);*/
// check if start-line has two marks as expected; if not fall back to start-position
if ((startLine != null) && (startLine.size() > 2)) {
startLine = null;