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00009 #include "MathFunctions.h"
00010 #include "Tools/Math/Geometry.h"
00011
00012 MathFunctions::MathFunctions(const BehaviorControlInterfaces& interfaces)
00013 : BehaviorControlInterfaces(interfaces)
00014 {
00015 }
00016
00017
00018 void MathFunctions::registerSymbols(Xabsl2Engine& engine)
00019 {
00020
00021 engine.registerDecimalInputFunction("distance-to",this,
00022 (double (Xabsl2FunctionProvider::*)())&MathFunctions::distanceTo);
00023 engine.registerDecimalInputFunctionParameter("distance-to","distance-to.x",distanceToX);
00024 engine.registerDecimalInputFunctionParameter("distance-to","distance-to.y",distanceToY);
00025
00026
00027 engine.registerDecimalInputFunction("angle-to",this,
00028 (double (Xabsl2FunctionProvider::*)())&MathFunctions::angleTo);
00029 engine.registerDecimalInputFunctionParameter("angle-to","angle-to.x",angleToX);
00030 engine.registerDecimalInputFunctionParameter("angle-to","angle-to.y",angleToY);
00031
00032
00033 engine.registerDecimalInputFunction("abs",this,
00034 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getAbs);
00035 engine.registerDecimalInputFunctionParameter("abs","abs.value",absValue);
00036
00037
00038 engine.registerDecimalInputFunction("min",this,
00039 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getMin);
00040 engine.registerDecimalInputFunctionParameter("min","min.value0",min0Value);
00041 engine.registerDecimalInputFunctionParameter("min","min.value1",min1Value);
00042
00043
00044 engine.registerDecimalInputFunction("max",this,
00045 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getMax);
00046 engine.registerDecimalInputFunctionParameter("max","max.value0",max0Value);
00047 engine.registerDecimalInputFunctionParameter("max","max.value1",max1Value);
00048
00049
00050 engine.registerDecimalInputFunction("sgn",this,
00051 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getSgn);
00052 engine.registerDecimalInputFunctionParameter("sgn","sgn.value",sgnValue);
00053
00054
00055 engine.registerDecimalInputFunction("sin",this,
00056 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getSin);
00057 engine.registerDecimalInputFunctionParameter("sin","sin.alpha",alphaValue);
00058
00059
00060 engine.registerDecimalInputFunction("cos",this,
00061 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getCos);
00062 engine.registerDecimalInputFunctionParameter("cos","cos.alpha",alphaValue);
00063
00064
00065 engine.registerDecimalInputSymbol("random",this,
00066 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getRandom);
00067
00068
00069 engine.registerDecimalInputFunction("normalize",this,
00070 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getNormalize);
00071 engine.registerDecimalInputFunctionParameter("normalize","normalize.angle",normalizeAngle);
00072
00073
00074 engine.registerEnumeratedOutputSymbol("math.unfreeze-value",(int*)&unFreezeValue);
00075 engine.registerEnumeratedOutputSymbolEnumElement("math.unfreeze-value","true", 1);
00076
00077 engine.registerDecimalInputFunction("freeze",this,
00078 (double (Xabsl2FunctionProvider::*)())&MathFunctions::getFrozenValue);
00079 engine.registerDecimalInputFunctionParameter("freeze","freeze.value",valueToFreeze);
00080
00081 engine.registerDecimalInputFunction("is-in-interval",this,
00082 (double (Xabsl2FunctionProvider::*)())&MathFunctions::isInInterval);
00083 engine.registerDecimalInputFunctionParameter("is-in-interval","is-in-interval.a",isInIntervalA);
00084 engine.registerDecimalInputFunctionParameter("is-in-interval","is-in-interval.b",isInIntervalB);
00085 engine.registerDecimalInputFunctionParameter("is-in-interval","is-in-interval.value",isInIntervalValue);
00086
00087 }
00088
00089 void MathFunctions::update()
00090 {
00091 }
00092
00093 double MathFunctions::distanceTo()
00094 {
00095 return Geometry::distanceTo(robotPose,Vector2<double>(distanceToX,distanceToY));
00096 }
00097
00098 double MathFunctions::angleTo()
00099 {
00100 return toDegrees(Geometry::angleTo(robotPose,Vector2<double>(angleToX,angleToY)));
00101 }
00102
00103 double MathFunctions::getSgn()
00104 {
00105 return sgnValue > 0 ? 1 : -1;
00106 }
00107
00108 double MathFunctions::getAbs()
00109 {
00110 return fabs(absValue);
00111 }
00112
00113 double MathFunctions::getMin()
00114 {
00115 if (min0Value < min1Value)
00116 return min0Value;
00117 return min1Value;
00118 }
00119
00120 double MathFunctions::getMax()
00121 {
00122 if (max0Value > max1Value)
00123 return max0Value;
00124 return max1Value;
00125 }
00126
00127 double MathFunctions::getSin()
00128 {
00129 return sin(fromDegrees(alphaValue));
00130 }
00131
00132 double MathFunctions::getCos()
00133 {
00134 return cos(fromDegrees(alphaValue));
00135 }
00136
00137 double MathFunctions::getRandom()
00138 {
00139 return ((double) rand() / (RAND_MAX+1.0));
00140 }
00141
00142 double MathFunctions::getNormalize()
00143 {
00144 return toDegrees(normalize(fromDegrees(normalizeAngle)));
00145 }
00146
00147 double MathFunctions::getFrozenValue()
00148 {
00149 if (unFreezeValue == 1)
00150 {
00151 frozenValue = valueToFreeze;
00152 unFreezeValue = 0;
00153 }
00154 return frozenValue;
00155 }
00156
00157 double MathFunctions::isInInterval()
00158 {
00159 if (isInIntervalA < isInIntervalB)
00160 {
00161 if ((isInIntervalA <= isInIntervalValue) && (isInIntervalValue <= isInIntervalB))
00162 {
00163 return 1;
00164 }
00165 else
00166 {
00167 return 0;
00168 }
00169 }
00170 else
00171 {
00172 if ((isInIntervalB <= isInIntervalValue) && (isInIntervalValue <= isInIntervalA))
00173 {
00174 return 1;
00175 }
00176 else
00177 {
00178 return 0;
00179 }
00180 }
00181 }
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