Vmg fix Note: there should be a small deadzone between upwind and reaching/running where pressing the key has no effect so that issues in judging the exact TWA of the boat don't lead to a surprising direction change. Turn off toggle Remember to close Issue#43 when you have finished DoD'ing See merge request !37main
Hamish Ball
8 years ago
commit
321359be07
@ -0,0 +1,204 @@
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package mock.model;
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import shared.model.Bearing;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.Set;
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import java.util.TreeMap;
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/**
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* New Polars are the revampe of the old Polars class which interpolates the data after being parsed from the Polar Parser
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* There can only be one NewPolars instance stored statically however if a boat does happen to have a special case it can be assigned.
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*/
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public class NewPolars {
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//true wind speed, <true wind angle, best boat angle>
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private static Map<Double, TreeMap<Double, Double>> polars = new TreeMap<>();
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public static NewPolars newPolars = null;
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public NewPolars(){
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newPolars = this;
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}
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/**
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* Add polars from the polar table
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* @param trueWindSpeed True Wind Speed that the true wind angle and speed corresponds to
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* @param trueWindAngle True Wind Angle of the race
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* @param boatSpeed The speed the boat should be going at given the true wind angle
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*/
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public static void addPolars(double trueWindSpeed, Bearing trueWindAngle, double boatSpeed){
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double tws = trueWindSpeed;
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double bs = boatSpeed;
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double twa = trueWindAngle.degrees();
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if (!polars.containsKey(tws)){
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polars.put(tws, new TreeMap<>());
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}
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polars.get(tws).putIfAbsent(twa, bs);
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polars.get(tws).putIfAbsent(360d - twa, bs);
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}
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/**
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* Linearly Interpolates this should only be called once per parsing of a polar table
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*/
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public static void linearInterpolatePolars(){
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TreeMap<Double, Double> prevTWS = null;
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TreeMap<Double, TreeMap<Double, Double>> iterablePolars = new TreeMap<>(polars);
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//this loop averages out the speed between tow angles
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//Example: Pair one: 0 degrees, 0 knots
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// Pair two: 3 degrees, 6 knots
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//This loop will add
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//Pair one: 0 degrees, 0 knots
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//Pair two: 1 degrees, 2 knots
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//Pair three: 2 degrees, 4 knots
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//Pair four: 3 degrees, 6 knots
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for (double windSpeed: iterablePolars.keySet()){
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TreeMap<Double, Double> tws = iterablePolars.get(windSpeed);
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if (prevTWS == null){
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prevTWS = tws;
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continue;
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}
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double previousTWA = -1;
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TreeMap<Double, Double> iterableTWS = new TreeMap<>(tws);
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for (double twa: iterableTWS.keySet()){
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if (previousTWA == -1){
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previousTWA = twa;
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continue;
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}
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double twaDiff = twa - previousTWA;
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double speedDiff = iterableTWS.get(twa) - iterableTWS.get(previousTWA);
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double prevSpeed = iterableTWS.get(previousTWA);
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double diff = speedDiff/twaDiff;
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for (double i = previousTWA; i < twa; i ++){
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double mult = i - previousTWA;
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double newSpeed = diff * mult + prevSpeed;
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tws.put(i, newSpeed);
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}
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previousTWA = twa;
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}
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}
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}
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private static double getClosest(double value, Set<Double> set){
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double closestVal = 0;
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double smallestDiff = Double.MAX_VALUE;
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for (double d: set){
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double diff = Math.abs(value - d);
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if (diff < smallestDiff){
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closestVal = d;
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smallestDiff = diff;
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}
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}
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return closestVal;
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}
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/**
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* Determines which quadrant degrees are in
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* 0/360 Degrees
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* Quadrant 4 | Quadrant 1
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* -----------------------
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* Quadrant 3 | Quadrant 2
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* @param degrees
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* @return
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*/
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private static int getQuadrant(double degrees){
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return (int) modulateAngle(degrees) / 90 + 1;
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}
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private static double getBestSpeedInQuadrant(int quad, Map<Double, Double> set){
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double min = (quad - 1)* 90;
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double max = quad * 90;
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double maxAngle = 0;
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double maxSpeed = 0;
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double dupAngle = 0;
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//DupAngle will average the angle between maxAngles that have the same speed
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//Example: if 150 degrees, 180 degrees, and 210 degrees all go at 10 knots
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//then the average will be taken as (150 + 210) / 2 and the angle will be returned on that.
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for (Double s: set.keySet()){
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if (s >= min && s < max){
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if (set.get(s) > maxSpeed){
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dupAngle = 0;
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maxAngle = s;
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maxSpeed = set.get(s);
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} else if (set.get(s) == maxSpeed){
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dupAngle = s;
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}
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}
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}
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if (dupAngle != 0 ){
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return getClosest((dupAngle + maxAngle) / 2, set.keySet());
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}
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return maxAngle;
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}
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/**
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* Returns the best VMG that the boat can change to given it's current diagonal heading direction.
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* @param trueWindAngle True wind angle of the race
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* @param trueWindSpeed True wind speed of the race
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* @param boatAngle Angle that the boat is currently at
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* @return the best vmg that the boat can change to
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*/
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public static VMG setBestVMG(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
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//System.out.println("VMG AUTO CALLED");
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//speed
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double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
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double angle = modulateAngle(boatAngle.degrees() - trueWindAngle.degrees());
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int quad = getQuadrant(angle);
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double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
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double boatSpeed = polars.get(closestSpeed).get(bestAngle);
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double newAngle = modulateAngle(bestAngle + trueWindAngle.degrees());
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return new VMG(boatSpeed, Bearing.fromDegrees(newAngle));
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}
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/**
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* Calculates the speed that a certain angle should be doing
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* @param trueWindAngle TrueWind Angle of the race
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* @param trueWindSpeed True Wind Speed of the race
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* @param boatAngle Angle that the boat is current at
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* @return the speed that the boat should be traveling at.
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*/
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public static double calculateSpeed(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
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//speed
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double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
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double angleDiff = modulateAngle(boatAngle.degrees() - trueWindAngle.degrees());
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double closestAngle = getClosest(angleDiff, polars.get(closestSpeed).keySet());
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double boatSpeed = polars.get(closestSpeed).get(closestAngle);
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return boatSpeed;
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}
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public static double modulateAngle(double angle){
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return (angle % 360 + 360) % 360;
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}
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private Map<Double, TreeMap<Double, Double>> getPolars(){
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//this function is just for testing so therefore it is private
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return polars;
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}
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private void printOutLinearInterpolated(){
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for (double tws: polars.keySet()){
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System.out.println("==================================================");
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System.out.println("Speed: " + tws);
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System.out.println("==================================================");
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for (double twa: polars.get(tws).keySet()){
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System.out.println("TWA: " + twa + ", Boat Speed: " + polars.get(tws).get(twa));
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}
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}
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}
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}
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@ -0,0 +1,141 @@
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package mock.model;
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import mock.dataInput.PolarParser;
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import org.junit.Before;
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import org.junit.Test;
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import shared.model.Bearing;
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import java.lang.reflect.Field;
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import java.lang.reflect.InvocationTargetException;
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import java.lang.reflect.Method;
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import java.util.Map;
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import java.util.Set;
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import java.util.TreeMap;
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import static org.junit.Assert.assertEquals;
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import static org.junit.Assert.assertTrue;
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import static org.mockito.Mockito.*;
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/**
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* Created by fwy13 on 5/09/17.
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*/
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public class NewPolarsTest {
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@Before
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public void setUp(){
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PolarParser.parseNewPolars("mock/polars/acc_polars.csv");
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NewPolars.linearInterpolatePolars();
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// Uncomment if you want to read the linear interpolation in text
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// Method getPolars = null;
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// try {
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// getPolars = NewPolars.class.getDeclaredMethod("printOutLinearInterpolated");
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// } catch (NoSuchMethodException e) {
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// e.printStackTrace();
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// }
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// getPolars.setAccessible(true);
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// try {
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// getPolars.invoke(NewPolars.newPolars);
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// } catch (IllegalAccessException e) {
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// e.printStackTrace();
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// } catch (InvocationTargetException e) {
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// e.printStackTrace();
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// }
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}
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@Test
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public void testQuads() throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
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//reflection for private class
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Class[] parameterTypes = new Class[1];
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parameterTypes[0] = Double.TYPE;
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Method getQuads = NewPolars.class.getDeclaredMethod("getQuadrant", parameterTypes);
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getQuads.setAccessible(true);
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//start invoking
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Object[] paras1 = new Object[1];
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paras1[0] = (new Double(0)).doubleValue();
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int q1 = (int) getQuads.invoke(NewPolars.newPolars, paras1);
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assertEquals(q1, 1);
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//start invoking
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Object[] paras2 = new Object[1];
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paras2[0] = (new Double(90)).doubleValue();
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int q2 = (int) getQuads.invoke(NewPolars.newPolars, paras2);
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assertEquals(q2, 2);
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//start invoking
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Object[] paras3 = new Object[1];
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paras3[0] = (new Double(180)).doubleValue();
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int q3 = (int) getQuads.invoke(NewPolars.newPolars, paras3);
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assertEquals(q3, 3);
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//start invoking
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Object[] paras4 = new Object[1];
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paras4[0] = (new Double(270)).doubleValue();
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int q4 = (int) getQuads.invoke(NewPolars.newPolars, paras4);
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assertEquals(q4, 4);
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//start invoking
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Object[] paras5 = new Object[1];
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paras5[0] = (new Double(360)).doubleValue();
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int q5 = (int) getQuads.invoke(NewPolars.newPolars, paras5);
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assertEquals(q5, 1);
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}
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@Test
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public void testEdgeSpeeds(){
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//just make sure that speeds at certain angles do not throw a null exception and are not negative
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double maxTWS = 30;
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for (double tws = 0; tws < maxTWS; tws += 1){
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for (double j = 0; j < 360; j++){
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Bearing twa = Bearing.fromDegrees(j);
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for (double i = 0; i < 360; i++){
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Bearing boatBearing = Bearing.fromDegrees(i);
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double speed = NewPolars.calculateSpeed(twa, tws, boatBearing);
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assertTrue(speed >= 0);
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}
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}
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}
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}
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@Test
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public void testClosestSpeeds() throws NoSuchMethodException, NoSuchFieldException, InvocationTargetException, IllegalAccessException {
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//reflection for private class
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Method getClosest = NewPolars.class.getDeclaredMethod("getClosest", double.class, Set.class);
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getClosest.setAccessible(true);
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Method getPolars = NewPolars.class.getDeclaredMethod("getPolars");
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getPolars.setAccessible(true);
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double maxTWS = 30;
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//only catches for nulls
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for (double tws = 0; tws < maxTWS; tws += 1){
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Map<Double, TreeMap<Double, Double>> polars = (Map<Double, TreeMap<Double, Double>>) getPolars.invoke(NewPolars.newPolars);
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double speed = (double) getClosest.invoke(NewPolars.newPolars, tws, polars.keySet());
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assertTrue(speed >= 0);
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}
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}
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@Test
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public void testAutoVSCalculated(){
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//test that the auto chosen speed is the same speed that is calculated
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double maxTWS = 30;
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for (double tws = 0; tws < maxTWS; tws ++){
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for (double twa = 0; twa < 360; twa ++){
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Bearing TW = Bearing.fromDegrees(twa);
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for (double ba = 0; ba < 360; ba ++){
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Bearing boatBearing = Bearing.fromDegrees(ba);
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VMG autoVMG = NewPolars.setBestVMG(TW, tws, boatBearing);
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double speed = NewPolars.calculateSpeed(TW, tws, autoVMG.getBearing());
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assertTrue(autoVMG.getSpeed() == speed);
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}
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}
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}
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}
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}
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