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VMG now works however some little bug in the interpolation in some quadrant that is making the speed all the same in the quadrant #story[1182]

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This commit is contained in:
Fan-Wu Yang
2017-09-05 19:26:06 +12:00
parent 7aaa880f40
commit 7331ad1a20
5 changed files with 148 additions and 17 deletions
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racevisionGame/pom.xml
+22 -2
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@@ -25,10 +25,30 @@
<!-- https://mvnrepository.com/artifact/org.mockito/mockito-all -->
<dependency>
<groupId>org.mockito</groupId>
<artifactId>mockito-all</artifactId>
<version>1.9.5</version>
<artifactId>mockito-core</artifactId>
<version>2.9.0</version>
</dependency>
<!-- Maven Dependencies block START-->
<dependency>
<groupId>net.bytebuddy</groupId>
<artifactId>byte-buddy</artifactId>
<version>1.7.0</version>
<scope>runtime</scope>
</dependency>
<dependency>
<groupId>net.bytebuddy</groupId>
<artifactId>byte-buddy-agent</artifactId>
<version>1.7.0</version>
<scope>runtime</scope>
</dependency>
<dependency>
<groupId>org.objenesis</groupId>
<artifactId>objenesis</artifactId>
<version>2.6</version>
<scope>runtime</scope>
</dependency>
<!-- Maven Dependencies block END-->
<dependency>
racevisionGame/src/main/java/mock/dataInput/PolarParser.java
-1
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@@ -108,7 +108,6 @@ public class PolarParser {
/**
* Given a filename, this function parses it and generates a Polar object, which can be queried for polar information.
* @param filename The filename to load and read data from (loaded as a resource).
* @return A Polar table containing data from the given file.
*/
public static void parseNewPolars(String filename) throws InvalidPolarFileException {
NewPolars newPolars = new NewPolars();
racevisionGame/src/main/java/mock/model/MockRace.java
+5 -3
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@@ -209,7 +209,9 @@ public class MockRace extends Race {
boat.setStatus(BoatStatusEnum.PRESTART);
//We set a large time since tack change so that it calculates a new VMG when the simulation starts.
boat.setTimeSinceTackChange(Long.MAX_VALUE);
//boat.setTimeSinceTackChange(Long.MAX_VALUE);
boat.setTimeSinceTackChange(0);
}
}
@@ -353,8 +355,8 @@ public class MockRace extends Race {
private void newOptimalVMG(MockBoat boat) {
long tackPeriod = 1000;
if (boat.getTimeSinceTackChange() > tackPeriod) {
//System.out.println("optim called");
//Calculate the new VMG.
// VMG newVMG = boat.getPolars().calculateVMG(
// this.getWindDirection(),
@@ -364,7 +366,7 @@ public class MockRace extends Race {
// Bearing.fromDegrees(359.99999d));
VMG newVMG = NewPolars.setBestVMG(this.getWindDirection(), this.getWindSpeed(), boat.getBearing());
System.out.println(newVMG);
//System.out.println(newVMG);
//If the new vmg improves velocity, use it.
if (improvesVelocity(boat, newVMG)) {
boat.setVMG(newVMG);
racevisionGame/src/main/java/mock/model/NewPolars.java
+14 -11
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@@ -31,7 +31,7 @@ public class NewPolars {
}
polars.get(tws).putIfAbsent(twa, bs);
polars.get(tws).putIfAbsent(360d - twa, bs);
System.out.println(String.format("tws %f, twa %f, bs %f", tws, twa, bs));
//System.out.println(String.format("tws %f, twa %f, bs %f", tws, twa, bs));
}
public static void linearInterpolatePolars(){
@@ -69,7 +69,7 @@ public class NewPolars {
double mult = i - previousTWA;
double newSpeed = diff * mult + prevSpeed;
//System.out.println(newSpeed);
System.out.println(String.format("tws %f, twa %f, bs %f", windSpeed, i, newSpeed));
//System.out.println(String.format("tws %f, twa %f, bs %f", windSpeed, i, newSpeed));
tws.put(i, newSpeed);
}
previousTWA = twa;
@@ -104,8 +104,10 @@ public class NewPolars {
}
private static double getBestSpeedInQuadrant(int quad, Map<Double, Double> set){
double min = quad* 90;
double max = (quad + 1) * 90;
double min = (quad - 1)* 90;
double max = quad * 90;
System.out.println(quad);
System.out.println(min + " " + max);
double maxAngle = 0;
double maxSpeed = 0;
for (Double s: set.keySet()){
@@ -116,9 +118,6 @@ public class NewPolars {
}
}
}
if (quad > 2){
maxAngle += 180;
}
return maxAngle;
}
@@ -130,13 +129,12 @@ public class NewPolars {
* @return
*/
public static VMG setBestVMG(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
//System.out.println("VMG AUTO CALLED");
//speed
double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
//not using true vmg, using general concept
double angle = Math.abs(trueWindAngle.degrees() - boatAngle.degrees());
int quad = getQuadrant(boatAngle.degrees());
double angle = ((boatAngle.degrees() - trueWindAngle.degrees()) % 360 + 360) % 360;
int quad = getQuadrant(angle);
double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
Bearing vmgAngle = Bearing.fromDegrees((bestAngle) % 360);
@@ -159,4 +157,9 @@ public class NewPolars {
}
private Map<Double, TreeMap<Double, Double>> getPolars(){
//this function is just for testing so therefore it is private
return polars;
}
}
racevisionGame/src/test/java/mock/model/NewPolarsTest.java
+107
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@@ -0,0 +1,107 @@
package mock.model;
import mock.dataInput.PolarParser;
import org.junit.Before;
import org.junit.Test;
import shared.model.Bearing;
import java.lang.reflect.Field;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.Map;
import java.util.Set;
import java.util.TreeMap;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
import static org.mockito.Mockito.*;
/**
* Created by fwy13 on 5/09/17.
*/
public class NewPolarsTest {
@Before
public void setUp(){
PolarParser.parseNewPolars("mock/polars/acc_polars.csv");
NewPolars.linearInterpolatePolars();
}
@Test
public void testQuads() throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
//reflection for private class
Class[] parameterTypes = new Class[1];
parameterTypes[0] = Double.TYPE;
Method getQuads = NewPolars.class.getDeclaredMethod("getQuadrant", parameterTypes);
getQuads.setAccessible(true);
//start invoking
Object[] paras1 = new Object[1];
paras1[0] = (new Double(0)).doubleValue();
int q1 = (int) getQuads.invoke(NewPolars.newPolars, paras1);
assertEquals(q1, 1);
//start invoking
Object[] paras2 = new Object[1];
paras2[0] = (new Double(90)).doubleValue();
int q2 = (int) getQuads.invoke(NewPolars.newPolars, paras2);
assertEquals(q2, 2);
//start invoking
Object[] paras3 = new Object[1];
paras3[0] = (new Double(180)).doubleValue();
int q3 = (int) getQuads.invoke(NewPolars.newPolars, paras3);
assertEquals(q3, 3);
//start invoking
Object[] paras4 = new Object[1];
paras4[0] = (new Double(270)).doubleValue();
int q4 = (int) getQuads.invoke(NewPolars.newPolars, paras4);
assertEquals(q4, 4);
//start invoking
Object[] paras5 = new Object[1];
paras5[0] = (new Double(360)).doubleValue();
int q5 = (int) getQuads.invoke(NewPolars.newPolars, paras5);
assertEquals(q5, 1);
}
@Test
public void testEdgeSpeeds(){
//just make sure that speeds at certain angles do not throw a null exception and are not negative
double maxTWS = 15;
for (double tws = 0; tws < maxTWS; tws += 0.1){
for (double j = 0; j < 360; j++){
Bearing twa = Bearing.fromDegrees(j);
for (double i = 0; i < 360; i++){
Bearing boatBearing = Bearing.fromDegrees(i);
double speed = NewPolars.calculateSpeed(twa, tws, boatBearing);
assertTrue(speed >= 0);
}
}
}
}
@Test
public void testClosestSpeeds() throws NoSuchMethodException, NoSuchFieldException, InvocationTargetException, IllegalAccessException {
//reflection for private class
Method getClosest = NewPolars.class.getDeclaredMethod("getClosest", double.class, Set.class);
getClosest.setAccessible(true);
Method getPolars = NewPolars.class.getDeclaredMethod("getPolars");
getPolars.setAccessible(true);
double maxTWS = 15;
//only catches for nulls
for (double tws = 0; tws < maxTWS; tws += 0.1){
Map<Double, TreeMap<Double, Double>> polars = (Map<Double, TreeMap<Double, Double>>) getPolars.invoke(NewPolars.newPolars);
double speed = (double) getClosest.invoke(NewPolars.newPolars, tws, polars.keySet());
assertTrue(speed >= 0);
}
}
}