Added POlar Linear Interpolation #story[1186]
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Fan-Wu Yang
@@ -104,6 +104,7 @@ public class Event {
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this.xmlFileType = XMLFileType.Contents;
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this.boatPolars = PolarParser.parse("mock/polars/acc_polars.csv");
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PolarParser.parseNewPolars("mock/polars/acc_polars.csv");
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//Parse the XML files into data sources.
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@@ -3,6 +3,7 @@ package mock.dataInput;
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import mock.exceptions.InvalidPolarFileException;
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import mock.model.NewPolars;
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import mock.model.Polars;
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import shared.model.Bearing;
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@@ -89,7 +90,6 @@ public class PolarParser {
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Bearing angle = Bearing.fromDegrees(angleDegrees);
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double boatSpeedKnots = Double.parseDouble(row[i + 1]);
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polarTable.addEstimate(windSpeedKnots, angle, boatSpeedKnots);
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polarTable.addPolars(windSpeedKnots, angle, boatSpeedKnots);
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} catch (NumberFormatException e) {
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throw new InvalidPolarFileException("Could not convert (Row,Col): (" + rowNumber + "," + i +") = " + row[i] + " to a double.", e);
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@@ -105,4 +105,91 @@ public class PolarParser {
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return polarTable;
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}
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/**
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* Given a filename, this function parses it and generates a Polar object, which can be queried for polar information.
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* @param filename The filename to load and read data from (loaded as a resource).
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* @return A Polar table containing data from the given file.
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*/
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public static void parseNewPolars(String filename) throws InvalidPolarFileException {
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NewPolars newPolars = new NewPolars();
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//Open the file for reading.
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InputStream fileStream = PolarParser.class.getClassLoader().getResourceAsStream(filename);
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if (fileStream == null) {
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throw new InvalidPolarFileException("Could not open polar data file: " + filename);
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}
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//Wrap it with buffered input stream to set encoding and buffer.
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InputStreamReader in = null;
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try {
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in = new InputStreamReader(fileStream, "UTF-8");
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} catch (UnsupportedEncodingException e) {
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throw new InvalidPolarFileException("Unsupported encoding: UTF-8", e);
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}
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BufferedReader inputStream = new BufferedReader(in);
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//We expect the polar data file to have the column headings:
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// Tws, Twa0, Bsp0, Twa1, Bsp1, UpTwa, UpBsp, Twa2, Bsp2, Twa3, Bsp3, Twa4, Bsp4, Twa5, Bsp5, Twa6, Bsp6, DnTwa, DnBsp, Twa7, Bsp7
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//and to have 7 rows of data.
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//Angles are expected to be in degrees, and velocities in knots.
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//We read data rows, and split them into arrays of elements.
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ArrayList<String[]> dataRows = new ArrayList<>(7);
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try {
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//Heading row.
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//We skip the heading row by reading it.
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String headingRow = inputStream.readLine();
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//Data rows.
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while (inputStream.ready()) {
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//Read line.
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String dataRow = inputStream.readLine();
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//Split line.
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String[] dataElements = dataRow.split(",");
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//Add to collection.
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dataRows.add(dataElements);
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}
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} catch (IOException e) {
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throw new InvalidPolarFileException("Could not read from polar data file: " + filename, e);
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}
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//Finished reading in data, now we need to construct polar rows and table from it.
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//For each row...
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int rowNumber = 0;
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for (String[] row : dataRows) {
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//For each pair of columns (the pair is angle, speed).
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//We start at column 1 since column 0 is the wind speed column.
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for (int i = 1; i < row.length; i += 2) {
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//Add angle+speed=velocity estimate to polar table.
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try {
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//Add the polar value to the polar table
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double windSpeedKnots = Double.parseDouble(row[0]);
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double angleDegrees = Double.parseDouble(row[i]);
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Bearing angle = Bearing.fromDegrees(angleDegrees);
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double boatSpeedKnots = Double.parseDouble(row[i + 1]);
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newPolars.addPolars(windSpeedKnots, angle, boatSpeedKnots);
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} catch (NumberFormatException e) {
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throw new InvalidPolarFileException("Could not convert (Row,Col): (" + rowNumber + "," + i +") = " + row[i] + " to a double.", e);
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}
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}
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//Increment row number.
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rowNumber++;
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}
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newPolars.linearInterpolatePolars();
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}
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}
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@@ -363,7 +363,7 @@ public class MockRace extends Race {
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// Bearing.fromDegrees(0d),
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// Bearing.fromDegrees(359.99999d));
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VMG newVMG = boat.getPolars().setBestVMG(this.getWindDirection(), this.getWindSpeed(), boat.getBearing());
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VMG newVMG = NewPolars.setBestVMG(this.getWindDirection(), this.getWindSpeed(), boat.getBearing());
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System.out.println(newVMG);
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//If the new vmg improves velocity, use it.
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if (improvesVelocity(boat, newVMG)) {
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@@ -380,7 +380,11 @@ public class MockRace extends Race {
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// Bearing.fromDegrees(boat.getBearing().degrees() - 1),
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// Bearing.fromDegrees(boat.getBearing().degrees() + 1));
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//VMG vmg = boat.getPolars().setBestVMG(this.getWindDirection(), this.getWindSpeed(), boat.getBearing());
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VMG vmg = new VMG(Math.cos (boat.getBearing().radians() - this.getWindDirection().radians()) * this.getWindSpeed() * 4, boat.getBearing()) ;
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VMG vmg = new VMG(NewPolars.calculateSpeed(
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this.getWindDirection(),
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this.getWindSpeed(),
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boat.getBearing()
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), boat.getBearing()) ;
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if (vmg.getSpeed() > 0) {
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boat.setCurrentSpeed(vmg.getSpeed());
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}
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@@ -0,0 +1,151 @@
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package mock.model;
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import shared.model.Bearing;
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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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* Created by fwy13 on 4/09/17.
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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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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).put(twa, bs);
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}
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public static void linearInterpolatePolars(){
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// double maxTWS = 0;
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// for (double key: polars.keySet()){
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// if (maxTWS < key){
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// maxTWS = key;
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// }
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// }
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TreeMap<Double, Double> prevTWS = null;
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for (TreeMap<Double, Double> tws: polars.values()){
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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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System.out.println(newS);
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tws.put(i, newSpeed);
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}
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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) degrees % 360) / 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 quadVal = (double)((quad - 1) % 2);// this is as the hash map only has values 0 - 180
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double min = quadVal* 90;
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double max = (quadVal + 1) * 90;
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double maxAngle = 0;
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double maxSpeed = 0;
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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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maxAngle = s;
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maxSpeed = set.get(s);
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}
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}
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}
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if (quad > 2){
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maxAngle += 180;
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}
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return maxAngle;
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}
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/**
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*
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* @param trueWindAngle
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* @param trueWindSpeed
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* @param boatAngle
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* @return
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*/
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public static VMG setBestVMG(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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//not using true vmg, using general concept
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double angle = Math.abs(trueWindAngle.degrees() - boatAngle.degrees());
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int quad = getQuadrant(boatAngle.degrees());
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double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
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Bearing vmgAngle = Bearing.fromDegrees((bestAngle) % 360);
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double boatSpeed = polars.get(closestSpeed).get(bestAngle);
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return new VMG(boatSpeed, Bearing.fromDegrees(vmgAngle.degrees() + trueWindAngle.degrees()));
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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 = Math.abs(trueWindAngle.degrees() - boatAngle.degrees()) % 180;
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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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}
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@@ -22,8 +22,6 @@ public class Polars {
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*/
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private HashMap<Double, List<Bearing>> polarAngles = new HashMap<>();
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//true wind speed, <true wind angle, best boat angle>
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private Map<Double, HashMap<Double, Double>> polars = new TreeMap<>();
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@@ -77,85 +75,6 @@ public class Polars {
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}
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public 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 HashMap<>());
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}
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polars.get(tws).put(twa, bs);
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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) degrees % 360) / 90 + 1;
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}
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private static double getBestSpeedInQuadrant(int quad, HashMap<Double, Double> set){
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double quadVal = (double)((quad - 1) % 2);// this is as the hash map only has values 0 - 180
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double min = quadVal* 90;
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double max = (quadVal + 1) * 90;
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double maxAngle = 0;
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double maxSpeed = 0;
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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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maxAngle = s;
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maxSpeed = set.get(s);
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}
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}
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}
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if (quad > 2){
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maxAngle += 180;
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}
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return maxAngle;
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}
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/**
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*
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* @param trueWindAngle
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* @param trueWindSpeed
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* @param boatAngle
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* @return
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*/
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public VMG setBestVMG(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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//not using true vmg, using general concept
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double angle = Math.abs(trueWindAngle.degrees() - boatAngle.degrees());
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int quad = getQuadrant(boatAngle.degrees());
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double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
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Bearing vmgAngle = Bearing.fromDegrees((bestAngle + trueWindSpeed) % 360);
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double boatSpeed = Math.abs(trueWindSpeed * Math.cos(vmgAngle.radians())) * 4;
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return new VMG(boatSpeed, vmgAngle);
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}
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/**
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* Calculates the VMG for a given wind angle, wind speed, and angle to destination. Will only return VMGs that have a true bearing (angle) within a given bound - this is to ensure that you can calculate VMGs without going out of bounds.
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* <br>
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