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fixed more bugs in maneuver detection

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This commit is contained in:
Axel Uhl committed 2011-12-05 16:47:38 +01:00
1 parent a34c650776
commit a3059c0d8f
1 file changed
+40 -30
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java/com.sap.sailing.domain/src/com/sap/sailing/domain/tracking/impl/TrackedRaceImpl.java
+40 -30
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@@ -621,9 +621,17 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
*/
@Override
public Tack getTack(Competitor competitor, TimePoint timePoint) {
Bearing wind = getWind(getTrack(competitor).getEstimatedPosition(timePoint, /* extrapolate */ false), timePoint).getBearing();
Bearing boat = getTrack(competitor).getEstimatedSpeed(timePoint).getBearing();
Bearing difference = wind.getDifferenceTo(boat);
return getTack(getTrack(competitor).getEstimatedPosition(timePoint, /* extrapolate */false), timePoint,
getTrack(competitor).getEstimatedSpeed(timePoint).getBearing());
}
/**
* Based on the wind direction at <code>timePoint</code> and at position <code>where</code>, compares the <code>boatBearing</code>
* to the wind's bearing at that time and place and determined the tack.
*/
private Tack getTack(Position where, TimePoint timePoint, Bearing boatBearing) {
Bearing wind = getWind(where, timePoint).getBearing();
Bearing difference = wind.getDifferenceTo(boatBearing);
return difference.getDegrees() <= 0 ? Tack.STARBOARD : Tack.PORT;
}
@@ -668,32 +676,32 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
GPSFixMoving previous = approximationPointsIter.next();
GPSFixMoving current = approximationPointsIter.next();
// the bearings in these variables are between approximation points
SpeedWithBearing speedWithBearingFromPreviousToCurrent = previous.getSpeedAndBearingRequiredToReach(current);
SpeedWithBearing speedWithBearingAtBeginningOfUnidirectionalCourseChanges = speedWithBearingFromPreviousToCurrent;
SpeedWithBearing speedWithBearingFromCurrentToNext; // will certainly be assigned because iter's collection's size > 2
SpeedWithBearing speedWithBearingOnApproximationFromPreviousToCurrent = previous.getSpeedAndBearingRequiredToReach(current);
SpeedWithBearing speedWithBearingOnApproximationAtBeginningOfUnidirectionalCourseChanges = speedWithBearingOnApproximationFromPreviousToCurrent;
SpeedWithBearing speedWithBearingOnApproximationFromCurrentToNext; // will certainly be assigned because iter's collection's size > 2
do {
GPSFixMoving next = approximationPointsIter.next();
speedWithBearingFromCurrentToNext = current.getSpeedAndBearingRequiredToReach(next);
speedWithBearingOnApproximationFromCurrentToNext = current.getSpeedAndBearingRequiredToReach(next);
// compute course change on "approximation track"
CourseChange courseChange = speedWithBearingFromPreviousToCurrent.getCourseChangeRequiredToReach(speedWithBearingFromCurrentToNext);
CourseChange courseChange = speedWithBearingOnApproximationFromPreviousToCurrent.getCourseChangeRequiredToReach(speedWithBearingOnApproximationFromCurrentToNext);
Pair<GPSFixMoving, CourseChange> courseChangeAtFix = new Pair<GPSFixMoving, CourseChange>(current, courseChange);
if (!courseChangeSequenceInSameDirection.isEmpty() &&
Math.signum(courseChangeSequenceInSameDirection.get(0).getB().getCourseChangeInDegrees()) !=
Math.signum(courseChange.getCourseChangeInDegrees())) {
// course change in different direction; cluster the course changes in same direction so far, then start new list
List<Maneuver> maneuvers = groupChangesInSameDirectionIntoManeuvers(competitor,
speedWithBearingAtBeginningOfUnidirectionalCourseChanges, courseChangeSequenceInSameDirection);
speedWithBearingOnApproximationAtBeginningOfUnidirectionalCourseChanges, courseChangeSequenceInSameDirection);
result.addAll(maneuvers);
courseChangeSequenceInSameDirection.clear();
speedWithBearingAtBeginningOfUnidirectionalCourseChanges = speedWithBearingFromPreviousToCurrent;
speedWithBearingOnApproximationAtBeginningOfUnidirectionalCourseChanges = speedWithBearingOnApproximationFromPreviousToCurrent;
}
courseChangeSequenceInSameDirection.add(courseChangeAtFix);
previous = current;
current = next;
speedWithBearingFromPreviousToCurrent = speedWithBearingFromCurrentToNext;
speedWithBearingOnApproximationFromPreviousToCurrent = speedWithBearingOnApproximationFromCurrentToNext;
} while (approximationPointsIter.hasNext());
if (!courseChangeSequenceInSameDirection.isEmpty()) {
result.addAll(groupChangesInSameDirectionIntoManeuvers(competitor, speedWithBearingAtBeginningOfUnidirectionalCourseChanges,
result.addAll(groupChangesInSameDirectionIntoManeuvers(competitor, speedWithBearingOnApproximationAtBeginningOfUnidirectionalCourseChanges,
courseChangeSequenceInSameDirection));
}
}
@@ -709,7 +717,7 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
* maneuver's time point, the average time point of the course changes that went into the maneuver construction is
* used.<p>
*
* @param speedWithBearingAtBeginning
* @param speedWithBearingOnApproximationAtBeginning
* the speed/bearing before the first approximating fix passed in
* <code>courseChangeSequenceInSameDirection</code>
* @param courseChangeSequenceInSameDirection
@@ -718,13 +726,13 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
* @return a non-<code>null</code> list
*/
private List<Maneuver> groupChangesInSameDirectionIntoManeuvers(Competitor competitor,
SpeedWithBearing speedWithBearingAtBeginning,
SpeedWithBearing speedWithBearingOnApproximationAtBeginning,
List<Pair<GPSFixMoving, CourseChange>> courseChangeSequenceInSameDirection) throws NoWindException {
List<Maneuver> result = new ArrayList<Maneuver>();
List<Pair<GPSFixMoving, CourseChange>> group = new ArrayList<Pair<GPSFixMoving, CourseChange>>();
if (!courseChangeSequenceInSameDirection.isEmpty()) {
SpeedWithBearing beforeGroup = speedWithBearingAtBeginning; // speed/bearing before group
SpeedWithBearing beforeCurrentCourseChange = beforeGroup; // speed/bearing before current course change
SpeedWithBearing beforeGroupOnApproximation = speedWithBearingOnApproximationAtBeginning; // speed/bearing before group
SpeedWithBearing beforeCurrentCourseChangeOnApproximation = beforeGroupOnApproximation; // speed/bearing before current course change
Iterator<Pair<GPSFixMoving, CourseChange>> iter = courseChangeSequenceInSameDirection.iterator();
double totalCourseChangeInDegrees = 0.0;
long totalMilliseconds = 0l;
@@ -736,22 +744,22 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
&& currentFixAndCourseChange.getA().getTimePoint().asMillis() - group.get(group.size() - 1).getA().getTimePoint().asMillis() >
getApproximateManeuverDurationInMilliseconds()) {
// if next is more then approximate maneuver duration later, turn the current group into a maneuver and add to result
Maneuver maneuver = createManeuverFromGroupOfCourseChanges(competitor, beforeGroup,
Maneuver maneuver = createManeuverFromGroupOfCourseChanges(competitor, beforeGroupOnApproximation,
group, afterCurrentCourseChange, totalCourseChangeInDegrees, totalMilliseconds);
result.add(maneuver);
group.clear();
totalCourseChangeInDegrees = 0.0;
totalMilliseconds = 0l;
beforeGroup = beforeCurrentCourseChange;
beforeGroupOnApproximation = beforeCurrentCourseChangeOnApproximation;
}
afterCurrentCourseChange = beforeCurrentCourseChange.applyCourseChange(currentFixAndCourseChange.getB());
afterCurrentCourseChange = beforeCurrentCourseChangeOnApproximation.applyCourseChange(currentFixAndCourseChange.getB());
totalMilliseconds += currentFixAndCourseChange.getA().getTimePoint().asMillis();
totalCourseChangeInDegrees += currentFixAndCourseChange.getB().getCourseChangeInDegrees();
group.add(currentFixAndCourseChange);
beforeCurrentCourseChange = afterCurrentCourseChange; // speed/bearing after course change
beforeCurrentCourseChangeOnApproximation = afterCurrentCourseChange; // speed/bearing after course change
} while (iter.hasNext());
if (!group.isEmpty()) {
result.add(createManeuverFromGroupOfCourseChanges(competitor, beforeGroup,
result.add(createManeuverFromGroupOfCourseChanges(competitor, beforeGroupOnApproximation,
group, afterCurrentCourseChange, totalCourseChangeInDegrees, totalMilliseconds));
}
}
@@ -759,8 +767,8 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
}
private Maneuver createManeuverFromGroupOfCourseChanges(Competitor competitor,
SpeedWithBearing speedWithBearingAtBeginning, List<Pair<GPSFixMoving, CourseChange>> group,
SpeedWithBearing speedWithBearingAtEnd, double totalCourseChangeInDegrees, long totalMilliseconds)
SpeedWithBearing speedWithBearingOnApproximationAtBeginning, List<Pair<GPSFixMoving, CourseChange>> group,
SpeedWithBearing speedWithBearingOnApproximationAtEnd, double totalCourseChangeInDegrees, long totalMilliseconds)
throws NoWindException {
TimePoint maneuverTimePoint = new MillisecondsTimePoint(totalMilliseconds/group.size());
Position maneuverPosition = getTrack(competitor).getEstimatedPosition(maneuverTimePoint, /* extrapolate */ false);
@@ -768,15 +776,17 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
.asMillis() - getApproximateManeuverDurationInMilliseconds()/2);
MillisecondsTimePoint timePointAfterManeuver = new MillisecondsTimePoint(group.get(group.size() - 1).getA()
.getTimePoint().asMillis() + getApproximateManeuverDurationInMilliseconds()/2);
Tack tackBeforeManeuver = getTack(competitor, timePointBeforeManeuver);
Tack tackAfterManeuver = getTack(competitor, timePointAfterManeuver);
Tack tackBeforeManeuver = getTack(maneuverPosition, timePointBeforeManeuver, speedWithBearingOnApproximationAtBeginning.getBearing());
Tack tackAfterManeuver = getTack(maneuverPosition, timePointAfterManeuver, speedWithBearingOnApproximationAtEnd.getBearing());
// the TrackedLegOfCompetitor variables may be null, e.g., in case the time points are before or after the race
TrackedLegOfCompetitor legBeforeManeuver = getTrackedLeg(competitor, timePointBeforeManeuver);
TrackedLegOfCompetitor legAfterManeuver = getTrackedLeg(competitor, timePointAfterManeuver);
Maneuver.Type maneuverType;
if (totalCourseChangeInDegrees > PENALTY_CIRCLE_DEGREES_THRESHOLD) {
maneuverType = Type.PENALTY_CIRCLE;
} else if (legBeforeManeuver != legAfterManeuver) {
} else if (legBeforeManeuver != legAfterManeuver &&
// a maneuver at the start line is not to be considered a MARK_PASSING maneuver; show a tack as a tack
legAfterManeuver != null && legAfterManeuver.getLeg().getFrom() != getRace().getCourse().getFirstWaypoint()) {
maneuverType = Type.MARK_PASSING;
} else {
if (tackBeforeManeuver != tackAfterManeuver) {
@@ -808,14 +818,14 @@ public abstract class TrackedRaceImpl implements TrackedRace, CourseListener {
// heading up or bearing away
Wind wind = getWind(maneuverPosition, maneuverTimePoint);
Bearing windBearing = wind.getBearing();
Bearing toWindBeforeManeuver = windBearing.getDifferenceTo(speedWithBearingAtBeginning.getBearing());
Bearing toWindAfterManeuver = windBearing.getDifferenceTo(speedWithBearingAtEnd.getBearing());
Bearing toWindBeforeManeuver = windBearing.getDifferenceTo(speedWithBearingOnApproximationAtBeginning.getBearing());
Bearing toWindAfterManeuver = windBearing.getDifferenceTo(speedWithBearingOnApproximationAtEnd.getBearing());
maneuverType = Math.abs(toWindBeforeManeuver.getDegrees()) < Math.abs(toWindAfterManeuver.getDegrees()) ?
Type.HEAD_UP : Type.BEAR_AWAY;
}
}
Maneuver maneuver = new ManeuverImpl(maneuverType, tackAfterManeuver, maneuverPosition, maneuverTimePoint, speedWithBearingAtBeginning,
speedWithBearingAtEnd, totalCourseChangeInDegrees);
Maneuver maneuver = new ManeuverImpl(maneuverType, tackAfterManeuver, maneuverPosition, maneuverTimePoint, speedWithBearingOnApproximationAtBeginning,
speedWithBearingOnApproximationAtEnd, totalCourseChangeInDegrees);
return maneuver;
}