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I've added the get1Turner method.

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I077899 committed 2013-02-08 11:57:15 +02:00
1 parent 8e98eae938
commit df514538d6
1 file changed
+136 -3
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java/com.sap.sailing.simulator/src/com/sap/sailing/simulator/impl/PathGenerator1Turner.java
+136 -3
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@@ -37,7 +37,7 @@ public class PathGenerator1Turner extends PathGeneratorBase {
private long evalTimeStep;
private int evalStepMax;
private double evalTolerance;
public PathGenerator1Turner(SimulationParameters params) {
simulationParameters = params;
}
@@ -55,17 +55,150 @@ public class PathGenerator1Turner extends PathGeneratorBase {
return this.result.middle;
}
public TimedPositionWithSpeed get1Turner(WindFieldGenerator windField, PolarDiagram polarDiagram, Position start, Position end, TimePoint startTime,
boolean leftSide) {
long turnloss = polarDiagram.getTurnLoss(); // 4000;
Distance courseLength = start.getDistance(end);
Bearing bearStart2End = start.getBearingGreatCircle(end);
Position currentPosition = start;
TimePoint currentTime = startTime;
TimePoint nextTime;
double reachingTolerance;
if (this.evalTolerance == 0) {
reachingTolerance = 0.03;
} else {
reachingTolerance = this.evalTolerance;
}
int stepMax;
if (this.evalStepMax == 0) {
stepMax = 800;
} else {
stepMax = this.evalStepMax;
}
double[] reachTime = new double[stepMax];
boolean targetFound;
long timeStep;
if (this.evalTimeStep == 0) {
timeStep = 20000 / 3;
} else {
timeStep = this.evalTimeStep;
}
Bearing direction;
double newDistance;
double minimumDistance = courseLength.getMeters();
double overallMinimumDistance = courseLength.getMeters();
int stepOfOverallMinimumDistance = stepMax;
LinkedList<TimedPositionWithSpeed> path = null;
LinkedList<TimedPositionWithSpeed> allminpath = null;
for (int step = 0; step < stepMax; step++) {
currentPosition = start;
currentTime = startTime;
reachTime[step] = courseLength.getMeters();
targetFound = false;
minimumDistance = courseLength.getMeters();
path = new LinkedList<TimedPositionWithSpeed>();
path.addLast(new TimedPositionWithSpeedImpl(currentTime, currentPosition, null));
int stepLeft = 0;
while ((stepLeft < step) && (!targetFound)) {
SpeedWithBearing currentWind = windField.getWind(new TimedPositionImpl(currentTime, currentPosition));
polarDiagram.setWind(currentWind);
if (leftSide) {
direction = polarDiagram.optimalDirectionsUpwind()[0];
} else {
direction = polarDiagram.optimalDirectionsUpwind()[1];
}
SpeedWithBearing currSpeed = polarDiagram.getSpeedAtBearing(direction);
nextTime = new MillisecondsTimePoint(currentTime.asMillis() + timeStep);
Position nextPosition = currSpeed.travelTo(currentPosition, currentTime, nextTime);
newDistance = nextPosition.getDistance(end).getMeters();
if (newDistance < minimumDistance) {
minimumDistance = newDistance;
}
currentPosition = nextPosition;
currentTime = nextTime;
path.addLast(new TimedPositionWithSpeedImpl(currentTime, currentPosition, null));
if (currentPosition.getDistance(end).getMeters() < reachingTolerance * courseLength.getMeters()) {
reachTime[step] = minimumDistance;
targetFound = true;
if (minimumDistance < overallMinimumDistance) {
overallMinimumDistance = minimumDistance;
stepOfOverallMinimumDistance = step;
allminpath = path;
}
}
stepLeft++;
}
currentTime = new MillisecondsTimePoint(currentTime.asMillis() + turnloss);
int stepRight = 0;
while ((stepRight < (stepMax - step)) && (!targetFound)) {
SpeedWithBearing currentWind = windField.getWind(new TimedPositionImpl(currentTime, currentPosition));
polarDiagram.setWind(currentWind);
if (leftSide) {
direction = polarDiagram.optimalDirectionsUpwind()[1];
} else {
direction = polarDiagram.optimalDirectionsUpwind()[0];
}
SpeedWithBearing currSpeed = polarDiagram.getSpeedAtBearing(direction);
nextTime = new MillisecondsTimePoint(currentTime.asMillis() + timeStep);
Position nextPosition = currSpeed.travelTo(currentPosition, currentTime, nextTime);
newDistance = nextPosition.getDistance(end).getMeters();
if (newDistance < minimumDistance) {
minimumDistance = newDistance;
}
currentPosition = nextPosition;
currentTime = nextTime;
path.addLast(new TimedPositionWithSpeedImpl(currentTime, currentPosition, null)); // currSpeed));
if (currentPosition.getDistance(end).getMeters() < reachingTolerance * courseLength.getMeters()) {
Bearing bearPath2End = currentPosition.getBearingGreatCircle(end);
double bearDiff = bearPath2End.getDegrees() - bearStart2End.getDegrees();
reachTime[step] = minimumDistance * Math.signum(bearDiff);
if (start.getDistance(currentPosition).getMeters() > start.getDistance(end).getMeters()) {
targetFound = true;
}
if (minimumDistance < overallMinimumDistance) {
overallMinimumDistance = minimumDistance;
stepOfOverallMinimumDistance = step;
allminpath = new LinkedList<TimedPositionWithSpeed>(path);
}
}
stepRight++;
}
}
return allminpath.get(stepOfOverallMinimumDistance);
}
@Override
public Path getPath() {
WindFieldGenerator windField = simulationParameters.getWindField();
PolarDiagram polarDiagram = simulationParameters.getBoatPolarDiagram();
Position start;
if (this.evalStartPoint == null) {
start = simulationParameters.getCourse().get(0);
} else {
start = this.evalStartPoint;
start = this.evalStartPoint;
}
Position end = simulationParameters.getCourse().get(1);
TimePoint startTime;