Added Mock.Angle, Mock.Azimith, Mock.Bearing. These encapsulate the relevant angle type, to allow for better type safety (e.g., to avoid passing a bearing into an azimuth function).
Added more comments to Mock.Boat. Moved calculateAzimuth to GPSCoordinate, from Boat.
This commit is contained in:
fjc40
@@ -0,0 +1,65 @@
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package seng302.Model;
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/**
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* This represents an angle.
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* Has functions to return angle as either degrees or radians.
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*/
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public class Angle {
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/**
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* The angle stored in this object.
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* Degrees.
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*/
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private double degrees;
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/**
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* Ctor.
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* Don't use this.
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* This is protected because you need to use the static helper functions {@link #fromDegrees(double)} and {@link #fromRadians(double)} to construct an Angle object.
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*
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* @param degrees The value, in degrees, to initialize this Angle object with.
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*/
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protected Angle(double degrees) {
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this.degrees = degrees;
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}
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/**
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* Constructs an Angle object from an angle value in degrees.
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* @param degrees Angle value in degrees.
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* @return Angle object.
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*/
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public static Angle fromDegrees(double degrees) {
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Angle angle = new Angle(degrees);
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return angle;
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}
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/**
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* Constructs an Angle object from an angle value in radians.
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* @param radians Angle value in radians.
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* @return Angle object.
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*/
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public static Angle fromRadians(double radians) {
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return Angle.fromDegrees(Math.toDegrees(radians));
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}
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/**
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* Returns the value of this Angle object, in degrees.
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* @return The value of this Angle object, in degrees.
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*/
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public double degrees() {
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return this.degrees;
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}
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/**
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* Returns the value of this Angle object, in radians.
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* @return The value of this Angle object, in radians.
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*/
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public double radians() {
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return Math.toRadians(this.degrees);
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}
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}
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@@ -0,0 +1,66 @@
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package seng302.Model;
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/**
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* Represents an azimuth.
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* This is the angle between north and a target point.
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* It has the interval [-180, 180), and clockwise from north is positive.
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*/
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public class Azimuth extends Angle{
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/**
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* Ctor.
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* This is protected because you need to use the static helper functions {@link #fromDegrees(double)} and {@link #fromRadians(double)} to construct an Azimuth object.
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*
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* @param degrees The value, in degrees, to initialize this Azimuth object with.
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*/
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protected Azimuth(double degrees) {
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super(degrees);
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}
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/**
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* Converts an angle in degrees into an angle in degrees in the correct interval for an azimuth - [-180, 180).
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* E.g., converts -183 to 177, or converts 250 to -110, or converts 180 to -180.
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* @param degrees Degree value to convert.
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* @return Degree value in interval [-180, 180).
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*/
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public static double toAzimuthInterval(double degrees) {
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if (degrees >= 180) {
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//Too large.
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degrees -= 360;
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} else if (degrees < -180) {
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//Too small.
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degrees += 360;
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}
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return degrees;
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}
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/**
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* Constructs an Azimuth object from an angle value in degrees.
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* @param degrees Azimuth value in degrees.
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* @return Azimuth object.
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*/
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public static Azimuth fromDegrees(double degrees) {
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//Ensure the angle is in the correct interval.
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double degreesInInterval = Azimuth.toAzimuthInterval(degrees);
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Azimuth azimuth = new Azimuth(degreesInInterval);
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return azimuth;
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}
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/**
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* Constructs an Azimuth object from an angle value in radians.
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* @param radians Azimuth value in radians.
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* @return Azimuth object.
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*/
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public static Azimuth fromRadians(double radians) {
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return Azimuth.fromDegrees(Math.toDegrees(radians));
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}
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}
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@@ -0,0 +1,64 @@
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package seng302.Model;
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/**
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* Represents a bearing. Also known as a heading.
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* This is the angle between north and a target point.
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* Has the interval [0, 360), and clockwise from north is positive.
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*/
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public class Bearing extends Angle {
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/**
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* Ctor.
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* This is protected because you need to use the static helper functions {@link #fromDegrees(double)} and {@link #fromRadians(double)} to construct a Bearing object.
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*
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* @param degrees The value, in degrees, to initialize this Bearing object with.
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*/
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protected Bearing(double degrees) {
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super(degrees);
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}
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/**
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* Converts an angle in degrees into an angle in degrees in the correct interval for a bearing - [0, 360).
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* E.g., converts -183 to 177, or converts 425 to 65.
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* @param degrees Degree value to convert.
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* @return Degree value in interval [0, 360).
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*/
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public static double toBearingInterval(double degrees) {
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if (degrees >= 360) {
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//Too large.
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degrees -= 360;
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} else if (degrees < 0) {
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//Too small.
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degrees += 360;
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}
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return degrees;
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}
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/**
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* Constructs a Bearing object from an angle value in degrees.
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* @param degrees Bearing value in degrees.
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* @return Bearing object.
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*/
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public static Bearing fromDegrees(double degrees) {
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//Ensure the angle is in the correct interval.
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double degreesInInterval = Bearing.toBearingInterval(degrees);
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Bearing bearing = new Bearing(degreesInInterval);
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return bearing;
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}
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/**
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* Constructs a Bearing object from an angle value in radians.
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* @param radians Bearing value in radians.
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* @return Bearing object.
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*/
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public static Bearing fromRadians(double radians) {
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return Bearing.fromDegrees(Math.toDegrees(radians));
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}
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}
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@@ -5,34 +5,91 @@ import seng302.Constants;
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/**
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* Created by esa46 on 1/05/17.
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* This class represents a boat during a race.
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*/
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public class Boat {
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private String name;
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private double velocity;
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private double scaledVelocity;
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private String country;
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private int sourceID;
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private Leg currentLeg;
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private double distanceTravelledInLeg;
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private double distanceTravelledInTack;
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private double distanceForTack;
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private GPSCoordinate currentPosition;
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private long timeFinished = -1;
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private boolean started = false;
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private double heading;
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/**
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* This stores a boat's polars table. Can be used to calculate VMG.
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* The name of the boat/team.
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*/
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private String name;
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/**
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* The current speed of the boat, in knots.
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* TODO knots
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*/
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private double currentSpeed;
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/**
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* The current heading of the boat.
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* TODO bearing
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*/
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private double heading;
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/**
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* The current position of the boat.
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*/
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private GPSCoordinate currentPosition;
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/**
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* The country or team abbreviation of the boat.
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*/
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private String country;
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/**
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* The source ID of the boat.
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* This uniquely identifies an entity during a race.
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*/
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private int sourceID;
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/**
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* The leg of the race that the boat is currently on.
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*/
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private Leg currentLeg;
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/**
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* The distance, in meters, that the boat has travelled in the current leg.
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* TODO meters
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*/
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private double distanceTravelledInLeg;
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/**
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* The time, in milliseconds, that has elapsed during the current leg.
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* TODO milliseconds
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*/
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private double timeElapsedInCurrentLeg;
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/**
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* The timestamp, in milliseconds, of when the boat finished the race.
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* Is -1 if it hasn't finished.
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* TODO milliseconds
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*/
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private long timeFinished = -1;
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/**
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* Whether or not the boat has finished the race.
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*/
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private boolean hasFinishedRace = false;
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/**
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* Whether or not the boat has started the race.
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*/
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private boolean hasStartedRace = false;
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/**
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* This stores a boat's polars table.
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* Can be used to calculate VMG.
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*/
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private Polars polars;
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/**
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* This stores the milliseconds since the boat has changed its tack, to allow for only updating the tack every X milliseconds.
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* TODO milliseconds
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*/
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private long timeSinceTackChange = 0;
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/**
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* Boat initialiser which keeps all of the information of the boat.
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* Constructs a boat object with a given sourceID, name, country/team abbreviation, and polars table.
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*
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* @param sourceID The id of the boat
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* @param name The name of the Boat.
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@@ -46,34 +103,24 @@ public class Boat {
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this.polars = polars;
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}
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/**
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* Calculates the azimuth of the travel via map coordinates of the raceMarkers
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*
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* @return the direction that the boat is heading towards in degrees (-180 to 180).
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*/
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public double calculateAzimuth(GPSCoordinate start, GPSCoordinate end) {
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GeodeticCalculator calc = new GeodeticCalculator();
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calc.setStartingGeographicPoint(start.getLongitude(), start.getLatitude());
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calc.setDestinationGeographicPoint(end.getLongitude(), end.getLatitude());
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return calc.getAzimuth();
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}
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/**
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* Calculate the heding depending on the calculated azimuth value
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* Calculate the heading depending on the calculated azimuth value
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* @return The azimuth value which is greater than 0
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*/
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public double calculateHeading() {
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double azimuth = this.calculateAzimuth(currentLeg.getStartCompoundMark().getAverageGPSCoordinate(),
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double azimuth = GPSCoordinate.calculateAzimuth(currentLeg.getStartCompoundMark().getAverageGPSCoordinate(),
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currentLeg.getEndCompoundMark().getAverageGPSCoordinate());
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if (azimuth >= 0) {
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return azimuth;
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} else {
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//Azimuth is in the interval (-180, 180), but we need a heading in the interval [0, 360).
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if (azimuth < 0) {
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return azimuth + 360;
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}
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return azimuth;
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}
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/**
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@@ -81,7 +128,7 @@ public class Boat {
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* @return The azimuth value which is greater than 0
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*/
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public double calculateBearingToDestination() {
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double azimuth = this.calculateAzimuth(this.currentPosition,
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double azimuth = GPSCoordinate.calculateAzimuth(this.currentPosition,
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currentLeg.getEndCompoundMark().getAverageGPSCoordinate());
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if (azimuth >= 0) {
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@@ -125,21 +172,14 @@ public class Boat {
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this.name = name;
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}
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public double getVelocity() {
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return velocity;
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public double getCurrentSpeed() {
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return currentSpeed;
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}
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public void setVelocity(double velocity) {
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this.velocity = velocity;
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public void setCurrentSpeed(double currentSpeed) {
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this.currentSpeed = currentSpeed;
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}
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public double getScaledVelocity() {
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return scaledVelocity;
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}
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public void setScaledVelocity(double scaledVelocity) {
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this.scaledVelocity = scaledVelocity;
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}
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public String getCountry() {
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return country;
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@@ -173,21 +213,6 @@ public class Boat {
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this.distanceTravelledInLeg = distanceTravelledInLeg;
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}
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public double getDistanceTravelledInTack() {
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return distanceTravelledInTack;
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}
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public void setDistanceTravelledInTack(double distanceTravelledInTack) {
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this.distanceTravelledInTack = distanceTravelledInTack;
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}
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public double getDistanceForTack() {
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return distanceForTack;
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}
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public void setDistanceForTack(double distanceForTack) {
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this.distanceForTack = distanceForTack;
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}
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public GPSCoordinate getCurrentPosition() {
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return currentPosition;
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@@ -205,12 +230,12 @@ public class Boat {
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this.timeFinished = timeFinished;
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}
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public boolean isStarted() {
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return started;
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public boolean isHasStartedRace() {
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return hasStartedRace;
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}
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public void setStarted(boolean started) {
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this.started = started;
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public void setHasStartedRace(boolean hasStartedRace) {
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this.hasStartedRace = hasStartedRace;
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}
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public double getHeading() {
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@@ -1,5 +1,7 @@
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package seng302.Model;
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import org.geotools.referencing.GeodeticCalculator;
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import java.util.Comparator;
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import java.util.List;
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@@ -152,5 +154,22 @@ public class GPSCoordinate {
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return aRatio >= bRatio;
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}
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/**
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* Calculates the azimuth between two points.
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* This is an angle in the interval (-180, 180), with
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*
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* @return the direction that the boat is heading towards in degrees (-180 to 180).
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*/
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public static double calculateAzimuth(GPSCoordinate start, GPSCoordinate end) {
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GeodeticCalculator calc = new GeodeticCalculator();
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calc.setStartingGeographicPoint(start.getLongitude(), start.getLatitude());
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calc.setDestinationGeographicPoint(end.getLongitude(), end.getLatitude());
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return calc.getAzimuth();
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}
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}
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@@ -143,10 +143,10 @@ public class Race implements Runnable {
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checkPosition(boat, totalTimeElapsed);
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}
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if (boat.getTimeFinished() > 0) {
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mockOutput.parseBoatLocation(boat.getSourceID(), boat.getCurrentPosition().getLatitude(), boat.getCurrentPosition().getLongitude(), boat.getHeading(), boat.getVelocity());
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mockOutput.parseBoatLocation(boat.getSourceID(), boat.getCurrentPosition().getLatitude(), boat.getCurrentPosition().getLongitude(), boat.getHeading(), boat.getCurrentSpeed());
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boatStatuses.add(new BoatStatus(boat.getSourceID(), BoatStatusEnum.FINISHED, boat.getCurrentLeg().getLegNumber()));
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} else {
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mockOutput.parseBoatLocation(boat.getSourceID(), boat.getCurrentPosition().getLatitude(), boat.getCurrentPosition().getLongitude(), boat.getHeading(), boat.getVelocity());
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mockOutput.parseBoatLocation(boat.getSourceID(), boat.getCurrentPosition().getLatitude(), boat.getCurrentPosition().getLongitude(), boat.getHeading(), boat.getCurrentSpeed());
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boatStatuses.add(new BoatStatus(boat.getSourceID(),
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boat.getCurrentLeg().getLegNumber() >= 0 ? BoatStatusEnum.RACING : BoatStatusEnum.DNF, boat.getCurrentLeg().getLegNumber()));
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}
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@@ -174,8 +174,7 @@ public class Race implements Runnable {
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if (boat != null) {
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Leg newLeg = new Leg(name, new Marker(startingPositions.get(i)), endMark, 0);
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boat.setCurrentLeg(newLeg);
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boat.setVelocity(Constants.TEST_VELOCITIES[i]);
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boat.setScaledVelocity(boat.getVelocity() * scaleFactor);
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boat.setCurrentSpeed(Constants.TEST_VELOCITIES[i]);//TODO we should get rid of TEST_VELOCITIES since speed is based off of wind speed/angle.
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boat.setCurrentPosition(startingPositions.get(i));
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boat.setHeading(boat.calculateHeading());
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boat.setTimeSinceTackChange(999999);//We set a large time since tack change so that it calculates a new VMG when the simulation starts.
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@@ -248,14 +247,14 @@ public class Race implements Runnable {
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protected void updatePosition(Boat boat, int millisecondsElapsed) {
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//distanceTravelled = velocity (nm p hr) * time taken to update loop
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double distanceTravelled = (boat.getVelocity() * this.scaleFactor * millisecondsElapsed) / 3600000;
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double distanceTravelled = (boat.getCurrentSpeed() * this.scaleFactor * millisecondsElapsed) / 3600000;
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double totalDistanceTravelled = distanceTravelled + boat.getDistanceTravelledInLeg();
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boolean finish = boat.getCurrentLeg().getName().equals("Finish");
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if (!finish) {
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double totalDistanceTravelledInTack = distanceTravelled + boat.getDistanceTravelledInTack();
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double totalDistanceTravelledInTack = distanceTravelled;//TODO FIX// + boat.getDistanceTravelledInTack();
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double bound1 = (boat.calculateBearingToDestination() - 90) % 360;
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double bound2 = (boat.calculateBearingToDestination() + 90) % 360;
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@@ -295,15 +294,15 @@ public class Race implements Runnable {
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double angleBetweenDestAndHeading = boat.getHeading() - boat.calculateBearingToDestination();
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double angleBetweenDestAndNewVMG = newHeading.getBearing() - boat.calculateBearingToDestination();
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double currentVelocity = cos(Math.toRadians(angleBetweenDestAndHeading)) * boat.getVelocity();
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double currentVelocity = cos(Math.toRadians(angleBetweenDestAndHeading)) * boat.getCurrentSpeed();
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double vmgVelocity = cos(Math.toRadians(angleBetweenDestAndNewVMG)) * newHeading.getSpeed();
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//System.out.println("boat " + boat.getAbbrev() + " current velocity is " + currentVelocity + " knots, possible VMG is " + vmgVelocity + " knots.");//TEMP DEBUG REMOVE
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if (vmgVelocity > currentVelocity) {
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boat.setHeading(newHeading.getBearing());
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boat.setVelocity(newHeading.getSpeed());
|
||||
boat.setCurrentSpeed(newHeading.getSpeed());
|
||||
boat.setTimeSinceTackChange(0);
|
||||
|
||||
//System.out.println("boat " + boat.getAbbrev() + " has a new bearing " + boat.getHeading() + " degrees, and is " + boat.calculateDistanceToNextMarker() + " nautical miles to the next marker. Velocity to next marker is " + boat.getVelocity() + " knots.");//TEMP DEBUG REMOVE
|
||||
//System.out.println("boat " + boat.getAbbrev() + " has a new bearing " + boat.getHeading() + " degrees, and is " + boat.calculateDistanceToNextMarker() + " nautical miles to the next marker. Velocity to next marker is " + boat.getCurrentSpeed() + " knots.");//TEMP DEBUG REMOVE
|
||||
}
|
||||
|
||||
|
||||
@@ -346,14 +345,12 @@ public class Race implements Runnable {
|
||||
boatsFinished++;
|
||||
boat.setTimeFinished(timeElapsed);
|
||||
boat.setTimeFinished(timeElapsed);
|
||||
boat.setVelocity(0);
|
||||
boat.setScaledVelocity(0);
|
||||
boat.setCurrentSpeed(0);
|
||||
} else if (doNotFinish()) {
|
||||
boatsFinished++;
|
||||
boat.setTimeFinished(timeElapsed);
|
||||
boat.setCurrentLeg(new Leg("DNF", -1));
|
||||
boat.setVelocity(0);
|
||||
boat.setScaledVelocity(0);
|
||||
boat.setCurrentSpeed(0);
|
||||
} else {
|
||||
//Calculate how much the boat overshot the marker by
|
||||
boat.setDistanceTravelledInLeg(boat.getDistanceTravelledInLeg() - boat.getCurrentLeg().getDistance());
|
||||
|
||||
Reference in New Issue
Block a user