Cynopolis/SLAM-Sim
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Got rid of as many warnings as possible.

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This commit is contained in:
Quinn
2023-04-05 23:31:35 -05:00
parent 1dcd5b3614
commit dea6794c05
4 changed files with 8 additions and 9 deletions
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4
src/Car.java
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@@ -18,12 +18,12 @@ public class Car{
// default constructor // default constructor
Car(PApplet processing){ Car(PApplet processing){
this.proc = processing; proc = processing;
slam = new SLAM(proc); slam = new SLAM(proc);
} }
Car(PApplet processing, int xPos, int yPos, int carLength, int carWidth){ Car(PApplet processing, int xPos, int yPos, int carLength, int carWidth){
this.proc = processing; proc = processing;
slam = new SLAM(proc); slam = new SLAM(proc);
this.pose = new PVector(xPos, yPos); this.pose = new PVector(xPos, yPos);
this.carLength = carLength; this.carLength = carLength;

2
src/Processing.java
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@@ -6,7 +6,7 @@ import java.util.ArrayList;
public class Processing extends PApplet { public class Processing extends PApplet {
Car car; Car car;
ArrayList<Wall> objects = new ArrayList<Wall>(); ArrayList<Wall> objects = new ArrayList<>();
public static PApplet processing; public static PApplet processing;

4
src/SLAM.java
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@@ -5,7 +5,7 @@ import java.util.ArrayList;
import static processing.core.PApplet.pow; import static processing.core.PApplet.pow;
public class SLAM{ public class SLAM{
ArrayList<PVector> points = new ArrayList<PVector>(); ArrayList<PVector> points = new ArrayList<>();
private static PApplet proc; private static PApplet proc;
SLAM(PApplet processing){ SLAM(PApplet processing){
@@ -33,7 +33,7 @@ class Line{
} }
/** /**
* @brief attempt to find the line of best fit for the given points * attempt to find the line of best fit for the given points
* @param points the points to get the line of best for * @param points the points to get the line of best for
*/ */
Line(PApplet processing, ArrayList<PVector> points){ Line(PApplet processing, ArrayList<PVector> points){

7
src/View.java
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@@ -67,7 +67,7 @@ public class View{
//gets the point that each ray has collided with //gets the point that each ray has collided with
public ArrayList<PVector> getPoints(){ public ArrayList<PVector> getPoints(){
ArrayList<PVector> points = new ArrayList<PVector>(); ArrayList<PVector> points = new ArrayList<>();
for(Ray ray : rays){ for(Ray ray : rays){
if(!Objects.equals(ray.getPoint(), new PVector(0, 0) { if(!Objects.equals(ray.getPoint(), new PVector(0, 0) {
@@ -102,7 +102,7 @@ class Ray{
//checks to see at what coordinate the ray will collide with an object and sets the ray length to meet that point. //checks to see at what coordinate the ray will collide with an object and sets the ray length to meet that point.
public void castRay(ArrayList<Wall> objects){ public void castRay(ArrayList<Wall> objects){
this.rayLength = defaultRayLength; this.rayLength = defaultRayLength;
ArrayList<Integer> distances = new ArrayList<Integer>(); ArrayList<Integer> distances = new ArrayList<>();
//sees what objects it collides with //sees what objects it collides with
for(Wall object : objects){ for(Wall object : objects){
float theta1 = angle; float theta1 = angle;
@@ -141,8 +141,7 @@ class Ray{
public float getAngle(){return this.angle;} public float getAngle(){return this.angle;}
public boolean hasCollided(){ public boolean hasCollided(){
if(this.defaultRayLength != this.rayLength){return true;} return this.defaultRayLength != this.rayLength;
else{return false;}
} }
//returns the absolute position of the point //returns the absolute position of the point