Compare commits
7 Commits
Ray-Refact
...
SLAM
| Author | SHA1 | Date | |
|---|---|---|---|
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bda601d326 | ||
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62e7232435 | ||
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7298f80d36 | ||
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2f46605837 | ||
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38847abead | ||
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1a4d6e6909 | ||
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3321e77061 |
124
.idea/uiDesigner.xml
generated
Normal file
124
.idea/uiDesigner.xml
generated
Normal file
@@ -0,0 +1,124 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project version="4">
|
||||||
|
<component name="Palette2">
|
||||||
|
<group name="Swing">
|
||||||
|
<item class="com.intellij.uiDesigner.HSpacer" tooltip-text="Horizontal Spacer" icon="/com/intellij/uiDesigner/icons/hspacer.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="1" hsize-policy="6" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="com.intellij.uiDesigner.VSpacer" tooltip-text="Vertical Spacer" icon="/com/intellij/uiDesigner/icons/vspacer.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="1" anchor="0" fill="2" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JPanel" icon="/com/intellij/uiDesigner/icons/panel.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JScrollPane" icon="/com/intellij/uiDesigner/icons/scrollPane.svg" removable="false" auto-create-binding="false" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="7" hsize-policy="7" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JButton" icon="/com/intellij/uiDesigner/icons/button.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="0" fill="1" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="Button" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JRadioButton" icon="/com/intellij/uiDesigner/icons/radioButton.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="RadioButton" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JCheckBox" icon="/com/intellij/uiDesigner/icons/checkBox.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="3" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="CheckBox" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JLabel" icon="/com/intellij/uiDesigner/icons/label.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="0" anchor="8" fill="0" />
|
||||||
|
<initial-values>
|
||||||
|
<property name="text" value="Label" />
|
||||||
|
</initial-values>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextField" icon="/com/intellij/uiDesigner/icons/textField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JPasswordField" icon="/com/intellij/uiDesigner/icons/passwordField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JFormattedTextField" icon="/com/intellij/uiDesigner/icons/formattedTextField.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1">
|
||||||
|
<preferred-size width="150" height="-1" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextArea" icon="/com/intellij/uiDesigner/icons/textArea.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTextPane" icon="/com/intellij/uiDesigner/icons/textPane.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JEditorPane" icon="/com/intellij/uiDesigner/icons/editorPane.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JComboBox" icon="/com/intellij/uiDesigner/icons/comboBox.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="2" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTable" icon="/com/intellij/uiDesigner/icons/table.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JList" icon="/com/intellij/uiDesigner/icons/list.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="2" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTree" icon="/com/intellij/uiDesigner/icons/tree.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3">
|
||||||
|
<preferred-size width="150" height="50" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JTabbedPane" icon="/com/intellij/uiDesigner/icons/tabbedPane.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
|
||||||
|
<preferred-size width="200" height="200" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSplitPane" icon="/com/intellij/uiDesigner/icons/splitPane.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="3" hsize-policy="3" anchor="0" fill="3">
|
||||||
|
<preferred-size width="200" height="200" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSpinner" icon="/com/intellij/uiDesigner/icons/spinner.svg" removable="false" auto-create-binding="true" can-attach-label="true">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSlider" icon="/com/intellij/uiDesigner/icons/slider.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="8" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JSeparator" icon="/com/intellij/uiDesigner/icons/separator.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="6" anchor="0" fill="3" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JProgressBar" icon="/com/intellij/uiDesigner/icons/progressbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JToolBar" icon="/com/intellij/uiDesigner/icons/toolbar.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="6" anchor="0" fill="1">
|
||||||
|
<preferred-size width="-1" height="20" />
|
||||||
|
</default-constraints>
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JToolBar$Separator" icon="/com/intellij/uiDesigner/icons/toolbarSeparator.svg" removable="false" auto-create-binding="false" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="0" hsize-policy="0" anchor="0" fill="1" />
|
||||||
|
</item>
|
||||||
|
<item class="javax.swing.JScrollBar" icon="/com/intellij/uiDesigner/icons/scrollbar.svg" removable="false" auto-create-binding="true" can-attach-label="false">
|
||||||
|
<default-constraints vsize-policy="6" hsize-policy="0" anchor="0" fill="2" />
|
||||||
|
</item>
|
||||||
|
</group>
|
||||||
|
</component>
|
||||||
|
</project>
|
||||||
112
map.txt
Normal file
112
map.txt
Normal file
@@ -0,0 +1,112 @@
|
|||||||
|
numVerts,60
|
||||||
|
numEdges,50
|
||||||
|
vert,206.0,522.0
|
||||||
|
vert,554.0,422.0
|
||||||
|
vert,525.0,281.0
|
||||||
|
vert,404.0,666.0
|
||||||
|
vert,482.0,615.0
|
||||||
|
vert,545.0,326.0
|
||||||
|
vert,520.0,338.0
|
||||||
|
vert,713.0,810.0
|
||||||
|
vert,401.0,616.0
|
||||||
|
vert,520.0,399.0
|
||||||
|
vert,367.0,375.0
|
||||||
|
vert,599.0,418.0
|
||||||
|
vert,591.0,332.0
|
||||||
|
vert,483.0,810.0
|
||||||
|
vert,602.0,652.0
|
||||||
|
vert,711.0,234.0
|
||||||
|
vert,366.0,275.0
|
||||||
|
vert,611.0,359.0
|
||||||
|
vert,570.0,324.0
|
||||||
|
vert,302.0,249.0
|
||||||
|
vert,259.0,476.0
|
||||||
|
vert,411.0,811.0
|
||||||
|
vert,503.0,375.0
|
||||||
|
vert,168.0,471.0
|
||||||
|
vert,603.0,346.0
|
||||||
|
vert,601.0,491.0
|
||||||
|
vert,165.0,235.0
|
||||||
|
vert,405.0,237.0
|
||||||
|
vert,606.0,811.0
|
||||||
|
vert,165.0,809.0
|
||||||
|
vert,213.0,812.0
|
||||||
|
vert,165.0,521.0
|
||||||
|
vert,223.0,273.0
|
||||||
|
vert,294.0,378.0
|
||||||
|
vert,267.0,616.0
|
||||||
|
vert,493.0,238.0
|
||||||
|
vert,403.0,483.0
|
||||||
|
vert,210.0,380.0
|
||||||
|
vert,330.0,376.0
|
||||||
|
vert,714.0,488.0
|
||||||
|
vert,603.0,537.0
|
||||||
|
vert,715.0,655.0
|
||||||
|
vert,224.0,247.0
|
||||||
|
vert,267.0,723.0
|
||||||
|
vert,503.0,357.0
|
||||||
|
vert,618.0,397.0
|
||||||
|
vert,713.0,539.0
|
||||||
|
vert,334.0,727.0
|
||||||
|
vert,485.0,693.0
|
||||||
|
vert,211.0,346.0
|
||||||
|
vert,300.0,277.0
|
||||||
|
vert,294.0,347.0
|
||||||
|
vert,577.0,423.0
|
||||||
|
vert,531.0,414.0
|
||||||
|
vert,329.0,345.0
|
||||||
|
vert,327.0,615.0
|
||||||
|
vert,367.0,347.0
|
||||||
|
vert,304.0,479.0
|
||||||
|
vert,621.0,379.0
|
||||||
|
vert,487.0,485.0
|
||||||
|
edge,start,1,end,53
|
||||||
|
edge,start,2,end,16
|
||||||
|
edge,start,3,end,21
|
||||||
|
edge,start,5,end,18
|
||||||
|
edge,end,5,start,6
|
||||||
|
edge,start,7,end,15
|
||||||
|
edge,start,9,end,22
|
||||||
|
edge,start,11,end,52
|
||||||
|
edge,start,12,end,24
|
||||||
|
edge,start,14,end,41
|
||||||
|
edge,start,14,end,28
|
||||||
|
edge,start,15,end,35
|
||||||
|
edge,start,17,end,58
|
||||||
|
edge,end,12,start,18
|
||||||
|
edge,start,19,end,42
|
||||||
|
edge,start,19,end,50
|
||||||
|
edge,start,22,end,44
|
||||||
|
edge,end,20,start,23
|
||||||
|
edge,end,17,start,24
|
||||||
|
edge,start,26,end,29
|
||||||
|
edge,end,26,start,27
|
||||||
|
edge,end,7,start,29
|
||||||
|
edge,end,0,start,30
|
||||||
|
edge,end,0,start,31
|
||||||
|
edge,start,32,end,42
|
||||||
|
edge,start,32,end,50
|
||||||
|
edge,end,8,start,36
|
||||||
|
edge,start,36,end,57
|
||||||
|
edge,start,37,end,49
|
||||||
|
edge,end,33,start,37
|
||||||
|
edge,start,38,end,54
|
||||||
|
edge,end,10,start,38
|
||||||
|
edge,end,25,start,40
|
||||||
|
edge,start,40,end,46
|
||||||
|
edge,end,34,start,43
|
||||||
|
edge,start,43,end,47
|
||||||
|
edge,end,6,start,44
|
||||||
|
edge,end,11,start,45
|
||||||
|
edge,end,13,start,48
|
||||||
|
edge,end,49,start,51
|
||||||
|
edge,end,33,start,51
|
||||||
|
edge,end,1,start,52
|
||||||
|
edge,end,9,start,53
|
||||||
|
edge,end,34,start,55
|
||||||
|
edge,end,47,start,55
|
||||||
|
edge,end,54,start,56
|
||||||
|
edge,end,10,start,56
|
||||||
|
edge,end,45,start,58
|
||||||
|
edge,end,4,start,59
|
||||||
|
edge,end,39,start,59
|
||||||
20
src/Car.java
20
src/Car.java
@@ -3,6 +3,9 @@ import java.util.ArrayList;
|
|||||||
import static java.lang.Math.PI;
|
import static java.lang.Math.PI;
|
||||||
import static processing.core.PApplet.degrees;
|
import static processing.core.PApplet.degrees;
|
||||||
import static processing.core.PApplet.radians;
|
import static processing.core.PApplet.radians;
|
||||||
|
|
||||||
|
import Graph.*;
|
||||||
|
import Vector.Vector;
|
||||||
import processing.core.PApplet;
|
import processing.core.PApplet;
|
||||||
|
|
||||||
public class Car{
|
public class Car{
|
||||||
@@ -35,22 +38,21 @@ public class Car{
|
|||||||
}
|
}
|
||||||
|
|
||||||
//draw the car and its views
|
//draw the car and its views
|
||||||
public void drawCar(ArrayList<Wall> walls){
|
public void drawCar(PointGraph map, boolean SLAMIsHidden){
|
||||||
proc.stroke(255);
|
proc.stroke(255);
|
||||||
proc.ellipse(pose.x, pose.y, carWidth, carLength);
|
proc.ellipse(pose.x, pose.y, carWidth, carLength);
|
||||||
this.updateScan(walls);
|
this.updateScan(map);
|
||||||
// this.slam.drawLines();
|
if(!SLAMIsHidden){
|
||||||
|
this.slam.drawFeatures(proc);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//With all the views that the car has, get their point list
|
//With all the views that the car has, get their point list
|
||||||
void updateScan(ArrayList<Wall> walls){
|
void updateScan(PointGraph map){
|
||||||
for(View view : views){
|
for(View view : views){
|
||||||
view.look(walls);
|
view.look(map);
|
||||||
}
|
slam.RANSAC(view);
|
||||||
|
|
||||||
for(View view : views){
|
|
||||||
ArrayList<Vector> pointList = view.getPoints();
|
|
||||||
// slam.RANSAC(pointList, view.getFOV() / view.getRayNum());
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
59
src/Graph/Edge.java
Normal file
59
src/Graph/Edge.java
Normal file
@@ -0,0 +1,59 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
public class Edge {
|
||||||
|
Vertex vStart = null;
|
||||||
|
Vertex vEnd = null;
|
||||||
|
float weight = 0;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param vStart the vertex the edge starts at
|
||||||
|
* @param vEnd the vertex the edge ends at
|
||||||
|
* @param weight the weight of the edge
|
||||||
|
*/
|
||||||
|
Edge(Vertex vStart, Vertex vEnd, float weight){
|
||||||
|
this.vStart = vStart;
|
||||||
|
this.vEnd = vEnd;
|
||||||
|
this.weight = weight;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param vStart the vertex the edge starts at
|
||||||
|
* @param vEnd the vertex the edge ends at
|
||||||
|
*/
|
||||||
|
Edge(Vertex vStart, Vertex vEnd){
|
||||||
|
this.vStart = vStart;
|
||||||
|
this.vEnd = vEnd;
|
||||||
|
}
|
||||||
|
|
||||||
|
Edge(){}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the weight of the edge
|
||||||
|
*/
|
||||||
|
public float getWeight(){
|
||||||
|
return weight;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param newWeight set the edge's weight to something new
|
||||||
|
*/
|
||||||
|
public void setWeight(float newWeight){
|
||||||
|
this.weight = newWeight;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the vertex at the end of the edge
|
||||||
|
*/
|
||||||
|
public Vertex getEndVertex(){
|
||||||
|
return vEnd;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the vertex at the start of the edge
|
||||||
|
*/
|
||||||
|
public Vertex getStartVertex(){
|
||||||
|
return vStart;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
225
src/Graph/Graph.java
Normal file
225
src/Graph/Graph.java
Normal file
@@ -0,0 +1,225 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.HashMap;
|
||||||
|
import java.util.LinkedList;
|
||||||
|
|
||||||
|
public class Graph {
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Create a new empty graph
|
||||||
|
*/
|
||||||
|
public Graph(){
|
||||||
|
// hash maps require an initial size to get started
|
||||||
|
adjList = new HashMap<Vertex, LinkedList<Edge>>(1024);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the total number of vertices in the graph
|
||||||
|
*/
|
||||||
|
public int numVertices(){
|
||||||
|
return adjList.size();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the total number of edges in the graph.
|
||||||
|
*/
|
||||||
|
public int numEdges(){
|
||||||
|
int sum = 0;
|
||||||
|
for(Vertex v : adjList.keySet()){
|
||||||
|
sum += adjList.get(v).size();
|
||||||
|
}
|
||||||
|
return sum;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v add the vertex v to the graph
|
||||||
|
*/
|
||||||
|
public void addVertex(Vertex v){
|
||||||
|
// check if it's already in the adjacency listVertex
|
||||||
|
if(adjList.containsKey(v)){
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
adjList.put(v, new LinkedList<Edge>());
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param vStart the starting vertex
|
||||||
|
* @param vEnd the ending vertex
|
||||||
|
*/
|
||||||
|
public void addEdge(Vertex vStart, Vertex vEnd){
|
||||||
|
// don't add the edge if it is already added
|
||||||
|
for(Edge e : adjList.get(vStart)){
|
||||||
|
if(e.getEndVertex() == vEnd){
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
adjList.get(vStart).add(new Edge(vStart, vEnd));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Gets how many other vertices a given vertex points to
|
||||||
|
* @param v the vertex you want to know about
|
||||||
|
* @return the number of vertices this vertex points to
|
||||||
|
*/
|
||||||
|
public int outDegree(Vertex v){
|
||||||
|
return adjList.get(v).size();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v the vertex of interest
|
||||||
|
* @return the number of edges going into the vertex
|
||||||
|
*/
|
||||||
|
public int inDegree(Vertex v){
|
||||||
|
int count = 0;
|
||||||
|
for(Vertex v1 : adjList.keySet()){
|
||||||
|
for(Edge edge : adjList.get(v1)){
|
||||||
|
if(edge.getEndVertex() == v){
|
||||||
|
count++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return count;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Print out all vertexes in the graph
|
||||||
|
*/
|
||||||
|
public void print(){
|
||||||
|
for(Vertex key : adjList.keySet()){
|
||||||
|
System.out.print("Key: " + key.getLabel() + ": ");
|
||||||
|
for(Edge edge : adjList.get(key)){
|
||||||
|
System.out.print(edge.getEndVertex().getLabel());
|
||||||
|
System.out.print(",");
|
||||||
|
}
|
||||||
|
System.out.println("NULL");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v the vertext to start the traverse at
|
||||||
|
* @return a list of vertexes in order of when they were visited from first to last.
|
||||||
|
*/
|
||||||
|
public ArrayList<Vertex> depthFirstTraverse(Vertex v){
|
||||||
|
ArrayList<Vertex> vertexList = new ArrayList<Vertex>();
|
||||||
|
DFSTraverse(v, vertexList);
|
||||||
|
resetVisits();
|
||||||
|
|
||||||
|
return vertexList;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v the vertex to begin the traverse at
|
||||||
|
* @param vertexList the vertex list to append visited vertexes to
|
||||||
|
*/
|
||||||
|
private void DFSTraverse(Vertex v, ArrayList<Vertex> vertexList){
|
||||||
|
vertexList.add(v);
|
||||||
|
v.setVisitedStatus(true);
|
||||||
|
LinkedList<Edge> edgeList = adjList.get(v);
|
||||||
|
for(Edge edge : edgeList){
|
||||||
|
if(!(edge.getEndVertex().visitedStatus())){
|
||||||
|
DFSTraverse(edge.getEndVertex(), vertexList);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @post all vertexes in the graph will be set to unvisited
|
||||||
|
*/
|
||||||
|
private void resetVisits(){
|
||||||
|
for(Vertex v : adjList.keySet()){
|
||||||
|
v.setVisitedStatus(false);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v the vertex that you wish to see the neighbors of
|
||||||
|
* @return a list of vertexes that are connected to v with ingoing or outgoing edges
|
||||||
|
*/
|
||||||
|
public ArrayList<Vertex> getNeightborVerts(Vertex v){
|
||||||
|
// iterate through all of the vertexes and make sure they're marked as unvisited
|
||||||
|
for(Vertex v1 : adjList.keySet()){
|
||||||
|
v1.setVisitedStatus(false);
|
||||||
|
}
|
||||||
|
|
||||||
|
ArrayList<Vertex> neighbors = new ArrayList<>();
|
||||||
|
for(Vertex v1 : adjList.keySet()){
|
||||||
|
for(Edge edge : adjList.get(v1)){
|
||||||
|
if(edge.getStartVertex() == v && !edge.getEndVertex().visitedStatus()){
|
||||||
|
edge.getEndVertex().setVisitedStatus(true);
|
||||||
|
neighbors.add(edge.getEndVertex());
|
||||||
|
}
|
||||||
|
|
||||||
|
if(edge.getEndVertex() == v && !edge.getStartVertex().visitedStatus()){
|
||||||
|
edge.getStartVertex().setVisitedStatus(true);
|
||||||
|
neighbors.add(edge.getStartVertex());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
resetVisits();
|
||||||
|
|
||||||
|
return neighbors;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v the vertex that you wish to start the search at
|
||||||
|
* @return A list of vertexes in order of visitation where the search goes wide and then deep
|
||||||
|
*/
|
||||||
|
public ArrayList<Vertex> breadthFirstSearch(Vertex v){
|
||||||
|
ArrayList<Vertex> queue = new ArrayList<>();
|
||||||
|
ArrayList<Vertex> outputList = new ArrayList<>();
|
||||||
|
outputList.add(v);
|
||||||
|
queue.add(v);
|
||||||
|
v.setVisitedStatus(true);
|
||||||
|
|
||||||
|
while(queue.size() > 0){
|
||||||
|
Vertex next = queue.get(0);
|
||||||
|
queue.remove(0);
|
||||||
|
LinkedList<Edge> edgeList = adjList.get(next);
|
||||||
|
for(Edge edge : edgeList){
|
||||||
|
if(!edge.getEndVertex().visitedStatus()){
|
||||||
|
queue.add(edge.getEndVertex());
|
||||||
|
outputList.add(edge.getEndVertex());
|
||||||
|
edge.getEndVertex().setVisitedStatus(true);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
resetVisits();
|
||||||
|
|
||||||
|
return outputList;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief remove the given vertex and all edges that reference it from the graph
|
||||||
|
* @param v the vertex to remove from the graph.
|
||||||
|
*/
|
||||||
|
public void removeVertex(Vertex v){
|
||||||
|
|
||||||
|
// find all edges that point to the removed vertex
|
||||||
|
ArrayList<Edge> edgesToRemove = new ArrayList<>();
|
||||||
|
ArrayList<Vertex> startVertex = new ArrayList<>();
|
||||||
|
for(Vertex v1 : adjList.keySet()){
|
||||||
|
for(Edge e : adjList.get(v1)){
|
||||||
|
if(e.getEndVertex() == v){
|
||||||
|
edgesToRemove.add(e);
|
||||||
|
startVertex.add(e.getStartVertex());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// remove all of those edges from the adjList
|
||||||
|
int i = 0;
|
||||||
|
for(Edge e : edgesToRemove){
|
||||||
|
adjList.get(startVertex.get(i)).remove(e);
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
// remove the vertex from the adjacency list
|
||||||
|
adjList.remove(v);
|
||||||
|
}
|
||||||
|
|
||||||
|
protected HashMap<Vertex, LinkedList<Edge>> adjList;
|
||||||
|
}
|
||||||
|
|
||||||
53
src/Graph/LineEdge.java
Normal file
53
src/Graph/LineEdge.java
Normal file
@@ -0,0 +1,53 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
import Vector.*;
|
||||||
|
import processing.core.PApplet;
|
||||||
|
|
||||||
|
import java.awt.*;
|
||||||
|
|
||||||
|
import static java.lang.Math.PI;
|
||||||
|
|
||||||
|
public class LineEdge extends Edge implements LineInterface{
|
||||||
|
protected PointVertex vStart;
|
||||||
|
protected PointVertex vEnd;
|
||||||
|
protected Line line;
|
||||||
|
public LineEdge(PointVertex vStart, PointVertex vEnd) {
|
||||||
|
super(vStart, vEnd);
|
||||||
|
this.line = new Line(vStart.getPos(), vEnd.getPos());
|
||||||
|
}
|
||||||
|
|
||||||
|
public Vector getDirection(){
|
||||||
|
return line.getDirection();
|
||||||
|
}
|
||||||
|
|
||||||
|
public Vector getPosition(){
|
||||||
|
return line.getPosition();
|
||||||
|
}
|
||||||
|
|
||||||
|
public float getLength(){
|
||||||
|
return line.getLength();
|
||||||
|
}
|
||||||
|
|
||||||
|
public float getAngle(){
|
||||||
|
return line.getAngle();
|
||||||
|
}
|
||||||
|
|
||||||
|
public Vector endPoint(){
|
||||||
|
return line.endPoint();
|
||||||
|
}
|
||||||
|
|
||||||
|
public float getDistance(Vector point){
|
||||||
|
return line.getDistance(point);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void draw(PApplet proc){
|
||||||
|
line.draw(proc);
|
||||||
|
Vector leftFlange = line.getDirection().rotate2D((float)(-3*PI/4)).normalize().mul(20);
|
||||||
|
Vector rightFlange = line.getDirection().rotate2D((float) (3*PI/4)).normalize().mul(20);
|
||||||
|
Line l1 = new Line(line.endPoint(), line.endPoint().add(leftFlange));
|
||||||
|
Line l2 = new Line(line.endPoint(), line.endPoint().add(rightFlange));
|
||||||
|
l1.draw(proc);
|
||||||
|
l2.draw(proc);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
152
src/Graph/PointGraph.java
Normal file
152
src/Graph/PointGraph.java
Normal file
@@ -0,0 +1,152 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
import Vector.Vector;
|
||||||
|
import processing.core.PApplet;
|
||||||
|
|
||||||
|
import java.io.File; // Import the File class
|
||||||
|
import java.io.FileWriter;
|
||||||
|
import java.io.IOException; // Import the IOException class to handle errors
|
||||||
|
|
||||||
|
import static java.lang.Math.pow;
|
||||||
|
import static java.lang.Math.sqrt;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
|
|
||||||
|
|
||||||
|
public class PointGraph extends Graph {
|
||||||
|
PointVertex selectedVertex;
|
||||||
|
public PointGraph(){
|
||||||
|
super();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void draw(PApplet proc){
|
||||||
|
for(Vertex v : adjList.keySet()){
|
||||||
|
PointVertex v1 = (PointVertex) v;
|
||||||
|
v1.draw(proc);
|
||||||
|
for(Edge e : adjList.get(v)){
|
||||||
|
LineEdge e1 = (LineEdge) e;
|
||||||
|
e1.draw(proc);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public void addEdge(PointVertex vStart, PointVertex vEnd){
|
||||||
|
addVertex(vStart);
|
||||||
|
|
||||||
|
// don't add the edge if it is already added
|
||||||
|
for(Edge e : adjList.get(vStart)){
|
||||||
|
if(e.getEndVertex() == (Vertex) vEnd){
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
addVertex(vEnd);
|
||||||
|
LineEdge edge = new LineEdge(vStart, vEnd);
|
||||||
|
adjList.get((Vertex) vStart).add(new LineEdge(vStart, vEnd));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param v set this vertex as the selected vertex in the graph
|
||||||
|
*/
|
||||||
|
public void setSelectedVertex(PointVertex v){
|
||||||
|
if(selectedVertex != null){
|
||||||
|
deselectVertex();
|
||||||
|
}
|
||||||
|
selectedVertex = v;
|
||||||
|
selectedVertex.setColor(new int[]{255, 0, 255, 0});
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @pre a vertex needs to be selected
|
||||||
|
* @return the current pointvertex which is selected in the graph
|
||||||
|
*/
|
||||||
|
public PointVertex getSelectedVertex(){
|
||||||
|
if(selectedVertex == null){
|
||||||
|
if(super.adjList.size() > 0){
|
||||||
|
selectedVertex = (PointVertex)super.adjList.keySet().iterator().next();
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
throw new NullPointerException();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return selectedVertex;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return true if a vertex is currently selected in the graph
|
||||||
|
*/
|
||||||
|
public boolean vertexIsSelected(){
|
||||||
|
return selectedVertex != null;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief deselect the currently selected vertex
|
||||||
|
*/
|
||||||
|
public void deselectVertex(){
|
||||||
|
if(selectedVertex == null){
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
selectedVertex.setColor(new int[]{127, 255, 0, 0});
|
||||||
|
selectedVertex = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param x the x coordinate to search by
|
||||||
|
* @param y the y coordinate to search by
|
||||||
|
* @return the pointvertex closest to the given x, y coordinates
|
||||||
|
*/
|
||||||
|
public PointVertex getClosestVertex(Vector point){
|
||||||
|
if(super.adjList.size() == 0){
|
||||||
|
// TODO: choose a better exception name
|
||||||
|
throw new NullPointerException();
|
||||||
|
}
|
||||||
|
|
||||||
|
PointVertex closestVertex = (PointVertex) super.adjList.keySet().iterator().next();
|
||||||
|
float closestDist = -1;
|
||||||
|
for(Vertex v : super.adjList.keySet()){
|
||||||
|
PointVertex v1 = (PointVertex) v;
|
||||||
|
Vector p2 = v1.getPos();
|
||||||
|
float dist = p2.sub(point).mag();
|
||||||
|
if(dist < closestDist || closestDist == -1){
|
||||||
|
closestDist = dist;
|
||||||
|
closestVertex = v1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return closestVertex;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void removeVertex(PointVertex v){
|
||||||
|
if(selectedVertex == v){
|
||||||
|
selectedVertex = null;
|
||||||
|
}
|
||||||
|
super.removeVertex(v);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return all edges in the graph
|
||||||
|
*/
|
||||||
|
public ArrayList<LineEdge> getAllEdges(){
|
||||||
|
ArrayList<LineEdge> edges = new ArrayList<>();
|
||||||
|
for(Vertex v : adjList.keySet()){
|
||||||
|
for(Edge e : adjList.get(v)){
|
||||||
|
LineEdge e1 = (LineEdge) e;
|
||||||
|
edges.add(e1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return edges;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return all vertexes in the graph
|
||||||
|
*/
|
||||||
|
public ArrayList<PointVertex> getAllVertexes(){
|
||||||
|
ArrayList<PointVertex> points = new ArrayList<>();
|
||||||
|
for(Vertex v : adjList.keySet()){
|
||||||
|
PointVertex v1 = (PointVertex) v;
|
||||||
|
points.add(v1);
|
||||||
|
}
|
||||||
|
return points;
|
||||||
|
}
|
||||||
|
}
|
||||||
115
src/Graph/PointGraphWriter.java
Normal file
115
src/Graph/PointGraphWriter.java
Normal file
@@ -0,0 +1,115 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
import java.io.File;
|
||||||
|
import java.io.FileNotFoundException;
|
||||||
|
import java.io.FileWriter;
|
||||||
|
import java.io.IOException;
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.Scanner;
|
||||||
|
|
||||||
|
public class PointGraphWriter {
|
||||||
|
public void save(String filename, PointGraph g) throws IOException {
|
||||||
|
FileWriter file = new FileWriter(filename);
|
||||||
|
|
||||||
|
file.write("numVerts," + g.numVertices());
|
||||||
|
file.write("\nnumEdges," + g.numEdges());
|
||||||
|
|
||||||
|
// turn the hash map into something linear
|
||||||
|
ArrayList<PointVertex> verts = g.getAllVertexes();
|
||||||
|
ArrayList<LineEdge> edges = g.getAllEdges();
|
||||||
|
|
||||||
|
// save the vertexes
|
||||||
|
int countVerts = 0;
|
||||||
|
for(PointVertex v : verts){
|
||||||
|
// save the vertex position
|
||||||
|
file.write("\nvert,"+v.getPos().x+","+v.getPos().y);
|
||||||
|
countVerts++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// save the edges
|
||||||
|
for(Edge e : edges){
|
||||||
|
int idx = 0;
|
||||||
|
file.write("\nedge,");
|
||||||
|
boolean otherIsWritten = false;
|
||||||
|
for(PointVertex v : verts){
|
||||||
|
if(e.getStartVertex() == (Vertex)v){
|
||||||
|
file.write("start,"+ idx);
|
||||||
|
if(!otherIsWritten){
|
||||||
|
file.write(",");
|
||||||
|
otherIsWritten = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if(e.getEndVertex() == (Vertex)v){
|
||||||
|
file.write("end," + idx);
|
||||||
|
if(!otherIsWritten){
|
||||||
|
file.write(",");
|
||||||
|
otherIsWritten = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
idx++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
file.close();
|
||||||
|
}
|
||||||
|
|
||||||
|
public PointGraph loadFile(String filename) throws FileNotFoundException, NumberFormatException {
|
||||||
|
PointGraph g = new PointGraph();
|
||||||
|
File file = new File(filename);
|
||||||
|
Scanner reader = new Scanner(file);
|
||||||
|
ArrayList<PointVertex> vertices = new ArrayList<>();
|
||||||
|
while(reader.hasNextLine()){
|
||||||
|
String line = reader.nextLine();
|
||||||
|
ArrayList<String> args = parseLine(line);
|
||||||
|
String key = args.get(0);
|
||||||
|
switch (key) {
|
||||||
|
case "numVerts" -> System.out.println("Number of Vertexes: " + Integer.parseInt(args.get(1)));
|
||||||
|
case "numEdges" -> System.out.println("Number of Edges: " + Integer.parseInt(args.get(1)));
|
||||||
|
case "vert" -> {
|
||||||
|
float x = Float.parseFloat(args.get(1));
|
||||||
|
float y = Float.parseFloat(args.get(2));
|
||||||
|
PointVertex v = new PointVertex(x, y);
|
||||||
|
g.addVertex(v);
|
||||||
|
vertices.add(v);
|
||||||
|
}
|
||||||
|
case "edge" -> {
|
||||||
|
int startIdx;
|
||||||
|
int endIdx;
|
||||||
|
if (args.get(1).contains("start")) {
|
||||||
|
startIdx = Integer.parseInt(args.get(2));
|
||||||
|
endIdx = Integer.parseInt(args.get(4));
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
startIdx = Integer.parseInt(args.get(4));
|
||||||
|
endIdx = Integer.parseInt(args.get(2));
|
||||||
|
}
|
||||||
|
g.addEdge(vertices.get(startIdx), vertices.get(endIdx));
|
||||||
|
}
|
||||||
|
default -> System.out.println("Unrecognized Line: " + line);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return g;
|
||||||
|
}
|
||||||
|
|
||||||
|
private ArrayList<String> parseLine(String line){
|
||||||
|
ArrayList<String> args = new ArrayList<>();
|
||||||
|
StringBuilder arg = new StringBuilder();
|
||||||
|
|
||||||
|
for(char letter : line.toCharArray()){
|
||||||
|
if(letter == ','){
|
||||||
|
args.add(arg.toString());
|
||||||
|
arg = new StringBuilder();
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
if(letter == '\n'){
|
||||||
|
args.add(arg.toString());
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
arg.append(letter);
|
||||||
|
}
|
||||||
|
if(!args.get(args.size()-1).contains(arg.toString())){
|
||||||
|
args.add(arg.toString());
|
||||||
|
}
|
||||||
|
return args;
|
||||||
|
}
|
||||||
|
}
|
||||||
65
src/Graph/PointVertex.java
Normal file
65
src/Graph/PointVertex.java
Normal file
@@ -0,0 +1,65 @@
|
|||||||
|
package Graph;
|
||||||
|
import Vector.Vector;
|
||||||
|
import processing.core.PApplet;
|
||||||
|
|
||||||
|
public class PointVertex extends Vertex {
|
||||||
|
private Vector position;
|
||||||
|
private int[] color = new int[]{127, 255, 0, 0};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param xPos the x position of the vertex
|
||||||
|
* @param yPos the y posiiton of the vertex
|
||||||
|
*/
|
||||||
|
public PointVertex(float xPos, float yPos){
|
||||||
|
this.position = new Vector(xPos, yPos);
|
||||||
|
}
|
||||||
|
|
||||||
|
public PointVertex(Vector position){
|
||||||
|
super();
|
||||||
|
this.position = position;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param xPos the x position of the vertex
|
||||||
|
* @param yPos the y posiiton of the vertex
|
||||||
|
* @param label the label of the vertex
|
||||||
|
*/
|
||||||
|
PointVertex(float xPos, float yPos, String label){
|
||||||
|
super(label);
|
||||||
|
this.position = new Vector(xPos, yPos);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param x the new x position of the vertex
|
||||||
|
* @param y the new y posiiton of the vertex
|
||||||
|
*/
|
||||||
|
public void setPos(float x, float y){
|
||||||
|
this.position = new Vector(x, y);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return a two eleement float array containing the x and y coordinates of the vertex respectively.
|
||||||
|
*/
|
||||||
|
public Vector getPos(){
|
||||||
|
return position;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param newColor a 4 element int array containing th alpha, r, g ,and b components respectively
|
||||||
|
*/
|
||||||
|
public void setColor(int[] newColor){
|
||||||
|
this.color = newColor;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return a 4 element int array containing th alpha, r, g ,and b components respectively
|
||||||
|
*/
|
||||||
|
public int[] getColor(){
|
||||||
|
return color;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void draw(PApplet proc){
|
||||||
|
proc.stroke(color[1], color[2], color[3], color[0]);
|
||||||
|
proc.circle(position.x, position.y, 20);
|
||||||
|
}
|
||||||
|
}
|
||||||
45
src/Graph/Vertex.java
Normal file
45
src/Graph/Vertex.java
Normal file
@@ -0,0 +1,45 @@
|
|||||||
|
package Graph;
|
||||||
|
|
||||||
|
public class Vertex {
|
||||||
|
private String vertexLabel;
|
||||||
|
private boolean isVisitedStatus = false;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Create a new vertex with a default label
|
||||||
|
*/
|
||||||
|
public Vertex(){
|
||||||
|
this.vertexLabel = "Unassigned";
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param label create a new vertex with this label
|
||||||
|
*/
|
||||||
|
public Vertex(String label){
|
||||||
|
this.vertexLabel = label;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return the label of the vertex
|
||||||
|
*/
|
||||||
|
public String getLabel(){
|
||||||
|
return vertexLabel;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void setLabel(String newLabel){
|
||||||
|
vertexLabel = newLabel;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return if the node has been visited or not
|
||||||
|
*/
|
||||||
|
public boolean visitedStatus(){
|
||||||
|
return this.isVisitedStatus;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param status set the visited status to true or false
|
||||||
|
*/
|
||||||
|
public void setVisitedStatus(boolean status){
|
||||||
|
this.isVisitedStatus = status;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -1,13 +1,20 @@
|
|||||||
|
import Graph.*;
|
||||||
|
import Vector.Vector;
|
||||||
import processing.core.PApplet;
|
import processing.core.PApplet;
|
||||||
|
|
||||||
import java.util.ArrayList;
|
import java.io.FileNotFoundException;
|
||||||
|
import java.io.IOException;
|
||||||
|
|
||||||
|
|
||||||
public class Processing extends PApplet {
|
public class Processing extends PApplet {
|
||||||
|
|
||||||
Car car;
|
Car car;
|
||||||
ArrayList<Wall> objects = new ArrayList<>();
|
|
||||||
public static PApplet processing;
|
public static PApplet processing;
|
||||||
|
|
||||||
|
PointGraph map = new PointGraph();
|
||||||
|
boolean mapIsHidden = false;
|
||||||
|
boolean SLAMIsHidden = false;
|
||||||
|
|
||||||
public static void main(String[] args) {
|
public static void main(String[] args) {
|
||||||
PApplet.main("Processing");
|
PApplet.main("Processing");
|
||||||
}
|
}
|
||||||
@@ -16,18 +23,21 @@ public class Processing extends PApplet {
|
|||||||
processing = this;
|
processing = this;
|
||||||
car = new Car(processing, 100,100,50,40);
|
car = new Car(processing, 100,100,50,40);
|
||||||
size(1000, 1000);
|
size(1000, 1000);
|
||||||
car.addView(180,90);
|
car.addView(360,360);
|
||||||
for(int i = 0; i < 15; i++){
|
|
||||||
Wall wall = new Wall(processing, new Vector((int)random(50, 950), (int)random(50, 950)), new Vector((int)random(50, 950), (int)random(50, 950)));
|
// for(int i = 0; i < 10; i++){
|
||||||
objects.add(wall);
|
// PointVertex vStart = new PointVertex(random(50, 950), random(50, 950));
|
||||||
}
|
// PointVertex vEnd = new PointVertex(random(50, 950), random(50, 950));
|
||||||
|
// map.addEdge(vStart, vEnd);
|
||||||
|
// }
|
||||||
|
|
||||||
}
|
}
|
||||||
public void draw(){
|
public void draw(){
|
||||||
background(0);
|
background(0);
|
||||||
for(Wall object : objects){
|
if(!mapIsHidden){
|
||||||
object.drawWall();
|
map.draw(processing);
|
||||||
}
|
}
|
||||||
car.drawCar(objects);
|
car.drawCar(map, SLAMIsHidden);
|
||||||
strokeWeight(2);
|
strokeWeight(2);
|
||||||
stroke(255);
|
stroke(255);
|
||||||
//car.drive(new int[] {0, 0});
|
//car.drive(new int[] {0, 0});
|
||||||
@@ -52,7 +62,70 @@ public class Processing extends PApplet {
|
|||||||
if(key == 'e'){
|
if(key == 'e'){
|
||||||
car.setAngle(car.getAngle()-1);
|
car.setAngle(car.getAngle()-1);
|
||||||
}
|
}
|
||||||
|
if(key == DELETE && map.vertexIsSelected()){
|
||||||
|
map.removeVertex(map.getSelectedVertex());
|
||||||
|
}
|
||||||
|
if(key == ' ' && map.vertexIsSelected()){
|
||||||
|
map.deselectVertex();
|
||||||
|
}
|
||||||
|
if(key == ESC){
|
||||||
|
System.out.println("Attempting to save map to file.");
|
||||||
|
try{
|
||||||
|
PointGraphWriter writer = new PointGraphWriter();
|
||||||
|
writer.save("map.txt", map);
|
||||||
|
}
|
||||||
|
catch(IOException e){
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(key == 'l'){
|
||||||
|
System.out.println("Attempting to load a map from file");
|
||||||
|
try{
|
||||||
|
PointGraphWriter writer = new PointGraphWriter();
|
||||||
|
map = writer.loadFile("map.txt");
|
||||||
|
}
|
||||||
|
catch (FileNotFoundException e){
|
||||||
|
System.out.println("File not found");
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
catch (NumberFormatException e){
|
||||||
|
System.out.println("Number format incorrect");
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if(key == 'h'){
|
||||||
|
mapIsHidden = !mapIsHidden;
|
||||||
|
}
|
||||||
|
if(key == 'j'){
|
||||||
|
SLAMIsHidden = !SLAMIsHidden;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public void mousePressed(){
|
||||||
|
Vector clickPosition = new Vector(mouseX, mouseY);
|
||||||
|
|
||||||
|
if(map.numVertices() == 0){
|
||||||
|
PointVertex v = new PointVertex(clickPosition);
|
||||||
|
map.addVertex(v);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
PointVertex closestVertex = map.getClosestVertex(clickPosition);
|
||||||
|
float distance = closestVertex.getPos().sub(clickPosition).mag();
|
||||||
|
if(distance < 15){
|
||||||
|
if(map.vertexIsSelected()){
|
||||||
|
if(map.getSelectedVertex() == closestVertex){
|
||||||
|
map.deselectVertex();
|
||||||
|
}
|
||||||
|
else{
|
||||||
|
map.addEdge(map.getSelectedVertex(), closestVertex);
|
||||||
|
}
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
map.setSelectedVertex(closestVertex);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
PointVertex v = new PointVertex(clickPosition);
|
||||||
|
map.addVertex(v);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
27
src/Ray.java
27
src/Ray.java
@@ -1,11 +1,13 @@
|
|||||||
|
import Graph.*;
|
||||||
|
import Vector.*;
|
||||||
|
|
||||||
import processing.core.PApplet;
|
import processing.core.PApplet;
|
||||||
import processing.core.PVector;
|
|
||||||
|
|
||||||
import java.util.ArrayList;
|
import java.util.ArrayList;
|
||||||
|
|
||||||
import static processing.core.PApplet.*;
|
import static processing.core.PApplet.*;
|
||||||
|
|
||||||
public class Ray extends Line{
|
public class Ray extends Line {
|
||||||
float maxRayDistance = 1000;
|
float maxRayDistance = 1000;
|
||||||
int[] color = new int[]{255, 255, 255};
|
int[] color = new int[]{255, 255, 255};
|
||||||
//takes the starting position of the ray, the length of the ray, and it's casting angle (radians)
|
//takes the starting position of the ray, the length of the ray, and it's casting angle (radians)
|
||||||
@@ -25,17 +27,17 @@ public class Ray extends Line{
|
|||||||
|
|
||||||
|
|
||||||
//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> walls){
|
public void castRay(PointGraph map){
|
||||||
float shortestWallDistance = maxRayDistance;
|
float shortestWallDistance = maxRayDistance;
|
||||||
int[] newColor = new int[]{255, 255, 255};
|
ArrayList<LineEdge> walls = map.getAllEdges();
|
||||||
for(Wall wall : walls){
|
for(LineEdge wall : walls){
|
||||||
|
|
||||||
// get the necessary vectors for two parameterized lines
|
// get the necessary vectors for two parameterized lines
|
||||||
// parameterized lines are of the form L = d*t + p
|
// parameterized lines are of the form L = d*t + p
|
||||||
Vector d1 = this.direction.normalize().mul(maxRayDistance);
|
Vector d1 = this.direction.normalize().mul(maxRayDistance);
|
||||||
Vector d2 = wall.direction;
|
Vector d2 = wall.getDirection();
|
||||||
Vector p1 = this.position;
|
Vector p1 = this.position;
|
||||||
Vector p2 = wall.position;
|
Vector p2 = wall.getPosition();
|
||||||
|
|
||||||
// calculate the parameters for the intersection t and u
|
// calculate the parameters for the intersection t and u
|
||||||
float t = -(d2.x*(p2.y-p1.y) + d2.y*(p1.x-p2.x))/(d1.x*d2.y - d2.x*d1.y);
|
float t = -(d2.x*(p2.y-p1.y) + d2.y*(p1.x-p2.x))/(d1.x*d2.y - d2.x*d1.y);
|
||||||
@@ -50,7 +52,6 @@ public class Ray extends Line{
|
|||||||
float distance = d1.mul(t).add(p1).sub(this.position).mag();
|
float distance = d1.mul(t).add(p1).sub(this.position).mag();
|
||||||
if(distance < shortestWallDistance){
|
if(distance < shortestWallDistance){
|
||||||
shortestWallDistance = distance;
|
shortestWallDistance = distance;
|
||||||
newColor = new int[]{wall.r, wall.g, wall.b};
|
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
@@ -58,11 +59,9 @@ public class Ray extends Line{
|
|||||||
// if we collided with a wall, set the ray's length to the distance from it to the collision
|
// if we collided with a wall, set the ray's length to the distance from it to the collision
|
||||||
if(shortestWallDistance != maxRayDistance){
|
if(shortestWallDistance != maxRayDistance){
|
||||||
this.direction = this.direction.normalize().mul(shortestWallDistance);
|
this.direction = this.direction.normalize().mul(shortestWallDistance);
|
||||||
this.color = newColor;
|
|
||||||
}
|
}
|
||||||
else{
|
else{
|
||||||
this.direction = this.direction.normalize().mul(maxRayDistance);
|
this.direction = this.direction.normalize().mul(maxRayDistance);
|
||||||
this.color = new int[]{255, 255, 255};
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -72,13 +71,13 @@ public class Ray extends Line{
|
|||||||
|
|
||||||
|
|
||||||
public boolean hasCollided(){
|
public boolean hasCollided(){
|
||||||
return this.direction.mag() != maxRayDistance;
|
return abs(this.direction.mag() - maxRayDistance) > 0.001;
|
||||||
}
|
}
|
||||||
|
|
||||||
//returns the absolute position of the point
|
//returns the absolute position of the point
|
||||||
public Vector getPoint(){
|
public Vector getPoint(){
|
||||||
if(this.direction.mag() == 0){
|
if(this.direction.mag() == 0){
|
||||||
return new Vector();
|
return this.position;
|
||||||
}
|
}
|
||||||
|
|
||||||
return this.position.add(this.direction);
|
return this.position.add(this.direction);
|
||||||
@@ -91,8 +90,8 @@ public class Ray extends Line{
|
|||||||
public void setRayLength(int rayLength){this.direction = this.direction.normalize().mul(rayLength);}
|
public void setRayLength(int rayLength){this.direction = this.direction.normalize().mul(rayLength);}
|
||||||
|
|
||||||
public void setAngle(float angle){
|
public void setAngle(float angle){
|
||||||
float distance = this.direction.mag();
|
float currentAngle = direction.angle();
|
||||||
this.direction = new Vector(cos(angle), sin(angle)).mul(distance);
|
this.direction = direction.rotate2D(angle - currentAngle);
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
103
src/SLAM.java
103
src/SLAM.java
@@ -1,13 +1,17 @@
|
|||||||
|
import Vector.*;
|
||||||
import processing.core.*;
|
import processing.core.*;
|
||||||
|
|
||||||
|
import java.lang.reflect.Array;
|
||||||
import java.util.ArrayList;
|
import java.util.ArrayList;
|
||||||
import java.util.Collections;
|
import java.util.Collections;
|
||||||
import java.util.List;
|
import java.util.List;
|
||||||
|
|
||||||
|
import static java.lang.Math.random;
|
||||||
import static processing.core.PApplet.*;
|
import static processing.core.PApplet.*;
|
||||||
|
|
||||||
public class SLAM{
|
public class SLAM{
|
||||||
ArrayList<Line> lines = new ArrayList<>();
|
ArrayList<Line> lines = new ArrayList<>();
|
||||||
|
ShortTermMem unassociatedPoints = new ShortTermMem();
|
||||||
private static PApplet proc;
|
private static PApplet proc;
|
||||||
|
|
||||||
SLAM(PApplet processing){
|
SLAM(PApplet processing){
|
||||||
@@ -16,38 +20,41 @@ public class SLAM{
|
|||||||
|
|
||||||
/**
|
/**
|
||||||
* @param set the set to take a sub sample of
|
* @param set the set to take a sub sample of
|
||||||
* @param indexRange the range within to take the sub sample
|
|
||||||
* @param subSampleSize the size of the sub sample
|
* @param subSampleSize the size of the sub sample
|
||||||
* @return A random subset of the set within an indexRange and of size: subSampleSize
|
* @param minAngle the minimum angle allowed in the subset
|
||||||
|
* @param maxAngle the maximum angle allowed in the subset
|
||||||
|
* @return A random subset of the set within the angle range
|
||||||
*/
|
*/
|
||||||
private List<Vector> randomSample(ArrayList<Vector> set, int indexRange, int subSampleSize){
|
private List<Vector> randomSampleInAngleRange(ArrayList<Vector> set, int subSampleSize, float minAngle, float maxAngle){
|
||||||
// select a random laser data reading
|
|
||||||
int randomIdx = (int) proc.random(set.size() - 1); // index of starter reading
|
|
||||||
Vector point = set.get(randomIdx); // point of starter reading
|
|
||||||
|
|
||||||
// get a random sample of size numSampleReadings within degreeRange degrees of this laser reading.
|
// create an arraylist with all points within the angle range from the given set
|
||||||
List<Vector> subSample;
|
ArrayList<Vector> pointsInAngleRange = new ArrayList<>();
|
||||||
int rangeStart = randomIdx - indexRange >= 0 ? randomIdx - indexRange : 0;
|
for(Vector point : set){
|
||||||
int rangeEnd = randomIdx + indexRange < set.size() ? randomIdx + indexRange : set.size()-1;
|
if(minAngle <= point.z && point.z <= maxAngle){
|
||||||
subSample = set.subList(rangeStart, rangeEnd); // get the sub-sample
|
pointsInAngleRange.add(point);
|
||||||
Collections.shuffle(subSample); // shuffle the list
|
}
|
||||||
List<Vector> randomSample = subSample.subList(0, rangeEnd-rangeStart); // get our random sample
|
|
||||||
if (!randomSample.contains(point)) {
|
|
||||||
randomSample.add(point);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
return randomSample;
|
// shuffle the list to randomize it
|
||||||
|
Collections.shuffle(pointsInAngleRange);
|
||||||
|
|
||||||
|
// if the list is too small, just return the whole list
|
||||||
|
if(pointsInAngleRange.size() < subSampleSize){
|
||||||
|
return pointsInAngleRange;
|
||||||
|
}
|
||||||
|
// return a subSample of the list
|
||||||
|
return pointsInAngleRange.subList(0, subSampleSize);
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @param originalList the list which the randomSample of points originated from
|
|
||||||
* @param randomSample a random subsampling of points from the originalList
|
* @param randomSample a random subsampling of points from the originalList
|
||||||
* @param maxRange the maximum distance away from the line of best fit of the subSample of points for a given point's consensus to count.
|
* @param maxRange the maximum distance away from the line of best fit of the subSample of points for a given point's consensus to count.
|
||||||
* @param consensus the number of points that have to give their consensus for the line of best fit to count as a valid feature.
|
* @param consensus the number of points that have to give their consensus for the line of best fit to count as a valid feature.
|
||||||
*/
|
*/
|
||||||
private void extractFeature(ArrayList<Vector> originalList, List<Vector> randomSample, float maxRange, int consensus){
|
private void extractFeature(List<Vector> randomSample, float maxRange, int consensus){
|
||||||
// get a line of best fit for this list.
|
// get a line of best fit for this list.
|
||||||
Line bestFit = new Line(randomSample);
|
Line bestFit = new Line(randomSample);
|
||||||
|
// check that there are enough points in the sample that are less than the maxRange away to form a consensus
|
||||||
int count = 0;
|
int count = 0;
|
||||||
ArrayList<Vector> newRandomSample = new ArrayList<>();
|
ArrayList<Vector> newRandomSample = new ArrayList<>();
|
||||||
for (Vector v : randomSample) {
|
for (Vector v : randomSample) {
|
||||||
@@ -62,44 +69,66 @@ public class SLAM{
|
|||||||
lines.add(bestFit);
|
lines.add(bestFit);
|
||||||
// remove the associated readings from the total available readings.
|
// remove the associated readings from the total available readings.
|
||||||
for (Vector v : newRandomSample) {
|
for (Vector v : newRandomSample) {
|
||||||
originalList.remove(v);
|
this.unassociatedPoints.remove(v);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
private void fitToPreviousReadings(List<Vector> sample, float maxRange){
|
||||||
* @param newPoints a new scan of points to perform feature detection on
|
// keep track of points that were succesffully associated so they can be removed from the sample at the end
|
||||||
* @param raysPerDegree How many degrees apart are each ray that was cast
|
ArrayList<Vector> pointsToRemove = new ArrayList<>();
|
||||||
*/
|
// try to associate points from the smaple with pre-existing lines
|
||||||
public void RANSAC(ArrayList<Vector> newPoints, float raysPerDegree){
|
for(Vector v: sample){
|
||||||
float degreeRange = radians(10/2); // range to randomly sample readings within
|
for(Line l : lines){
|
||||||
int indexRange = (int) (degreeRange / raysPerDegree);
|
if(l.getDistance(v) < maxRange){
|
||||||
int numSampleReadings = 10; // number of readings to randomly sample
|
l.refitLine(v);
|
||||||
// constrain numSampleReadings so that it cant be higher than possible
|
pointsToRemove.add(v);
|
||||||
if(numSampleReadings >= 2 * indexRange){
|
}
|
||||||
numSampleReadings = 2 * indexRange;
|
}
|
||||||
}
|
}
|
||||||
int consensus = 6; // the number of points that need to lie near a line for it to be considered valid.
|
|
||||||
|
for(Vector v : pointsToRemove){
|
||||||
|
sample.remove(v);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @param view a laser scan view
|
||||||
|
*/
|
||||||
|
public void RANSAC(View view){
|
||||||
|
unassociatedPoints.addScan(view.getPos(), view.getPoints());
|
||||||
|
|
||||||
|
float degreeRange = radians(5); // range to randomly sample readings within
|
||||||
|
int numSampleReadings = 15; // number of readings to randomly sample
|
||||||
|
|
||||||
|
int consensus = 10; // the number of points that need to lie near a line for it to be considered valid.
|
||||||
float maxRange = 10; // the maximum distance a point can be away from the line for it to count as a consensus
|
float maxRange = 10; // the maximum distance a point can be away from the line for it to count as a consensus
|
||||||
|
|
||||||
// this for loop determines the maximum number of trials we're willing to do.
|
// this for loop determines the maximum number of trials we're willing to do.
|
||||||
for(int j = 0; j < 20; j++) {
|
for(int j = 0; j < 20; j++) {
|
||||||
// if there aren't enough points left in the set to form a consensus, we're done.
|
// if there aren't enough points left in the set to form a consensus, we're done.
|
||||||
if(newPoints.size() < consensus){
|
if(this.unassociatedPoints.size() < maxRange){
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
// get a random sub sample of newPoints within the index range of a given size
|
// get a random angle between -PI and PI
|
||||||
List<Vector> randomSample = this.randomSample(newPoints, indexRange, numSampleReadings);
|
float randomAngle = (float) (2*PI*(random()) - 0.5);
|
||||||
|
|
||||||
// check if the sub sample forms a valid line and remove the randomSample points if it does.
|
// get a random sub sample of newPoints within the index range of a given size
|
||||||
extractFeature(newPoints, randomSample, maxRange, consensus);
|
List<Vector> randomSample = this.randomSampleInAngleRange(this.unassociatedPoints.getPoints(), numSampleReadings, randomAngle-degreeRange, randomAngle+degreeRange);
|
||||||
|
|
||||||
|
if(randomSample.size() >= numSampleReadings){
|
||||||
|
// try to associate points from the sample with previously made lines
|
||||||
|
fitToPreviousReadings(randomSample, maxRange);
|
||||||
|
// check if the sub sample forms a valid line and remove the randomSample points if it does.
|
||||||
|
extractFeature(randomSample, maxRange, consensus);
|
||||||
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public void drawLines(){
|
public void drawFeatures(PApplet proc){
|
||||||
for(Line line : lines){
|
for(Line line : lines){
|
||||||
line.draw(proc);
|
line.draw(proc);
|
||||||
}
|
}
|
||||||
|
|||||||
59
src/ShortTermMem.java
Normal file
59
src/ShortTermMem.java
Normal file
@@ -0,0 +1,59 @@
|
|||||||
|
import java.util.ArrayList;
|
||||||
|
import Vector.Vector;
|
||||||
|
public class ShortTermMem {
|
||||||
|
ArrayList<ArrayList<Vector>> scans = new ArrayList<>();
|
||||||
|
ArrayList<Vector> scanPositions = new ArrayList<>();
|
||||||
|
|
||||||
|
ArrayList<Long> scanTimes = new ArrayList<>();
|
||||||
|
private int size = 0;
|
||||||
|
|
||||||
|
public void addScan(Vector scanPosition, ArrayList<Vector> scan){
|
||||||
|
size += scan.size();
|
||||||
|
scans.add(scan);
|
||||||
|
scanPositions.add(scanPosition);
|
||||||
|
scanTimes.add(System.currentTimeMillis());
|
||||||
|
purgeScans();
|
||||||
|
}
|
||||||
|
|
||||||
|
public ArrayList<Vector> getPoints(){
|
||||||
|
ArrayList<Vector> points = new ArrayList<>();
|
||||||
|
for(ArrayList<Vector> pointList : this.scans){
|
||||||
|
points.addAll(pointList);
|
||||||
|
}
|
||||||
|
return points;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void remove(Vector point){
|
||||||
|
for(ArrayList<Vector> pointList : this.scans){
|
||||||
|
int listSize = pointList.size();
|
||||||
|
pointList.remove(point);
|
||||||
|
if(listSize - pointList.size() != 0){
|
||||||
|
size--;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void purgeScans(){
|
||||||
|
long currentTime = System.currentTimeMillis();
|
||||||
|
int i = scanTimes.size();
|
||||||
|
|
||||||
|
// loop through the list backwards and remove all scans that are over second old
|
||||||
|
// we loop backwards to avoid removal conflicts
|
||||||
|
while(i > 0){
|
||||||
|
i--;
|
||||||
|
long dt = currentTime - scanTimes.get(i);
|
||||||
|
if(dt < 1000){
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
size -= scans.get(i).size();
|
||||||
|
scanTimes.remove(i);
|
||||||
|
scanPositions.remove(i);
|
||||||
|
scans.remove(i);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public int size(){
|
||||||
|
return this.size;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -1,16 +1,22 @@
|
|||||||
|
package Vector;
|
||||||
|
|
||||||
|
import Vector.Vector;
|
||||||
import processing.core.PApplet;
|
import processing.core.PApplet;
|
||||||
|
|
||||||
|
import java.util.ArrayList;
|
||||||
import java.util.List;
|
import java.util.List;
|
||||||
|
|
||||||
import static processing.core.PApplet.*;
|
import static processing.core.PApplet.*;
|
||||||
|
|
||||||
public class Line{
|
public class Line implements LineInterface{
|
||||||
// vector which represents the direction and length of the line from its starting position
|
// vector which represents the direction and length of the line from its starting position
|
||||||
protected Vector direction = new Vector(0,0);
|
protected Vector direction = new Vector(0,0);
|
||||||
// store the starting position of the line
|
// store the starting position of the line
|
||||||
protected Vector position = new Vector(0,0);
|
protected Vector position = new Vector(0,0);
|
||||||
|
|
||||||
Line(Vector startPosition, Vector endPosition){
|
protected ArrayList<Vector> points = new ArrayList<>();
|
||||||
|
|
||||||
|
public Line(Vector startPosition, Vector endPosition){
|
||||||
direction = endPosition.sub(startPosition);
|
direction = endPosition.sub(startPosition);
|
||||||
position = startPosition;
|
position = startPosition;
|
||||||
}
|
}
|
||||||
@@ -19,12 +25,20 @@ public class Line{
|
|||||||
* 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(List<Vector> points){
|
public Line(List<Vector> points){
|
||||||
bestFit(points);
|
bestFit(points);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public void refitLine(Vector newPoint){
|
||||||
|
// add the new point to our list
|
||||||
|
this.points.add(newPoint);
|
||||||
|
// rerun the bestFit algorithm with the new point
|
||||||
|
bestFit(new ArrayList<>());
|
||||||
|
}
|
||||||
|
|
||||||
// least squares line of best fit algorithm
|
// least squares line of best fit algorithm
|
||||||
private void bestFit(List<Vector> points){
|
public void bestFit(List<Vector> fitPoints){
|
||||||
|
this.points.addAll(fitPoints);
|
||||||
// get the mean of all the points
|
// get the mean of all the points
|
||||||
Vector mean = new Vector();
|
Vector mean = new Vector();
|
||||||
for(Vector point : points){
|
for(Vector point : points){
|
||||||
@@ -34,26 +48,28 @@ public class Line{
|
|||||||
|
|
||||||
// this section calculates the direction vector of the line of best fit
|
// this section calculates the direction vector of the line of best fit
|
||||||
Vector direction = new Vector();
|
Vector direction = new Vector();
|
||||||
float length = 1;
|
float length = 0;
|
||||||
// get the rise and run of the line of best fit
|
// get the rise and run of the line of best fit
|
||||||
for(Vector point : points){
|
for(Vector point : points){
|
||||||
direction.y += (point.x - mean.x)*(point.y - mean.y); // rise
|
direction.y += (point.x - mean.x)*(point.y - mean.y); // rise
|
||||||
direction.x += pow((point.x - mean.x),2);
|
direction.x += pow((point.x - mean.x),2);
|
||||||
|
|
||||||
// find the point that's furthest from the mean and use it to set the line length.
|
// get the average distance avery point is away from the mean.
|
||||||
float dist = abs(point.sub(mean).mag());
|
float dist = abs(point.sub(mean).mag());
|
||||||
if(dist > length){
|
length += dist;
|
||||||
length = 2*dist;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
length = 2f*length/points.size();
|
||||||
|
// if the direction is perfectly vertical create a line to represent that.
|
||||||
if(direction.y == 0){
|
if(direction.y == 0){
|
||||||
this.direction = new Vector(0, 1);
|
this.direction = new Vector(0, 1);
|
||||||
}
|
}
|
||||||
else{
|
else{
|
||||||
this.direction = new Vector(1, direction.y/direction.x);
|
this.direction = new Vector(1, direction.y/direction.x);
|
||||||
}
|
}
|
||||||
|
// scale the direction vector to be the correct length of the line.
|
||||||
this.direction = this.direction.normalize().mul(length);
|
this.direction = this.direction.normalize().mul(length);
|
||||||
|
|
||||||
this.position = mean.sub(this.direction.div(2));
|
this.position = mean.sub(this.direction.div(2));
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -75,22 +91,24 @@ public class Line{
|
|||||||
return direction.mag();
|
return direction.mag();
|
||||||
}
|
}
|
||||||
|
|
||||||
public void draw(PApplet screen){
|
|
||||||
Vector endPoint = this.position.add(this.direction);
|
|
||||||
screen.line(position.x, position.y, endPoint.x, endPoint.y);
|
|
||||||
}
|
|
||||||
|
|
||||||
public float getAngle(){return atan2(this.direction.y, this.direction.x);}
|
public float getAngle(){return atan2(this.direction.y, this.direction.x);}
|
||||||
|
|
||||||
public Vector endPoint(){
|
public Vector endPoint(){
|
||||||
return this.position.add(this.direction);
|
return this.position.add(this.direction);
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
|
||||||
* @param point
|
|
||||||
* @return the smallest distance from the point to this line
|
|
||||||
*/
|
|
||||||
public float getDistance(Vector point){
|
public float getDistance(Vector point){
|
||||||
return (point.sub(position).cross(direction)).mag() / direction.mag();
|
float line_dist = direction.mag();
|
||||||
|
if(line_dist == 0) return this.position.sub(point).mag();
|
||||||
|
|
||||||
|
Vector l2 = this.endPoint();
|
||||||
|
float t = ((point.x - position.x) * (l2.x - position.x) + (point.y - position.y) * (l2.y - position.y) + (point.z - position.z) * (l2.z - position.z)) / line_dist;
|
||||||
|
t = constrain(t, 0, 1);
|
||||||
|
Vector closestPoint = new Vector(position.x + t * (l2.x - position.x), position.y + t * (l2.y - position.y), position.z + t * (l2.z - position.z));
|
||||||
|
return closestPoint.sub(point).mag();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void draw(PApplet proc){
|
||||||
|
proc.line(position.x, position.y, endPoint().x, endPoint().y);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
20
src/Vector/LineInterface.java
Normal file
20
src/Vector/LineInterface.java
Normal file
@@ -0,0 +1,20 @@
|
|||||||
|
package Vector;
|
||||||
|
|
||||||
|
import processing.core.PApplet;
|
||||||
|
|
||||||
|
public interface LineInterface {
|
||||||
|
Vector getDirection();
|
||||||
|
|
||||||
|
Vector getPosition();
|
||||||
|
|
||||||
|
float getLength();
|
||||||
|
|
||||||
|
float getAngle();
|
||||||
|
|
||||||
|
Vector endPoint();
|
||||||
|
|
||||||
|
float getDistance(Vector point);
|
||||||
|
|
||||||
|
void draw(PApplet proc);
|
||||||
|
|
||||||
|
}
|
||||||
@@ -1,4 +1,10 @@
|
|||||||
|
package Vector;
|
||||||
|
|
||||||
|
import processing.core.PApplet;
|
||||||
|
|
||||||
import static java.lang.Math.*;
|
import static java.lang.Math.*;
|
||||||
|
import static processing.core.PApplet.cos;
|
||||||
|
import static processing.core.PApplet.sin;
|
||||||
|
|
||||||
public class Vector {
|
public class Vector {
|
||||||
public float x = 0;
|
public float x = 0;
|
||||||
@@ -6,62 +12,62 @@ public class Vector {
|
|||||||
public float z = 0;
|
public float z = 0;
|
||||||
|
|
||||||
Vector(){}
|
Vector(){}
|
||||||
Vector(float x, float y){
|
public Vector(float x, float y){
|
||||||
this.x = x;
|
this.x = x;
|
||||||
this.y = y;
|
this.y = y;
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector(float x, float y, float z){
|
public Vector(float x, float y, float z){
|
||||||
this.x = x;
|
this.x = x;
|
||||||
this.y = y;
|
this.y = y;
|
||||||
this.z = z;
|
this.z = z;
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector add(Vector other){
|
public Vector add(Vector other){
|
||||||
return new Vector(this.x + other.x, this.y + other.y, this.z + other.z);
|
return new Vector(this.x + other.x, this.y + other.y, this.z + other.z);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector add(float x, float y){
|
public Vector add(float x, float y){
|
||||||
return new Vector(this.x + x, this.y + y);
|
return new Vector(this.x + x, this.y + y);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector add(float x, float y, float z){
|
public Vector add(float x, float y, float z){
|
||||||
return new Vector(this.x + x, this.y + y, this.z + z);
|
return new Vector(this.x + x, this.y + y, this.z + z);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector sub(Vector other){
|
public Vector sub(Vector other){
|
||||||
return new Vector(this.x - other.x, this.y - other.y, this.z - other.z);
|
return new Vector(this.x - other.x, this.y - other.y, this.z - other.z);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector sub(float x, float y){
|
public Vector sub(float x, float y){
|
||||||
return new Vector(this.x - x, this.y - y);
|
return new Vector(this.x - x, this.y - y);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector sub(float x, float y, float z){
|
public Vector sub(float x, float y, float z){
|
||||||
return new Vector(this.x - x, this.y - y, this.z - z);
|
return new Vector(this.x - x, this.y - y, this.z - z);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector mul(float scalar){
|
public Vector mul(float scalar){
|
||||||
return new Vector(this.x * scalar, this.y * scalar, this.z * scalar);
|
return new Vector(this.x * scalar, this.y * scalar, this.z * scalar);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector div(float scalar){
|
public Vector div(float scalar){
|
||||||
return mul(1/scalar);
|
return mul(1/scalar);
|
||||||
}
|
}
|
||||||
|
|
||||||
float mag(){
|
public float mag(){
|
||||||
return (float)sqrt(x*x + y*y + z*z);
|
return (float)sqrt(x*x + y*y + z*z);
|
||||||
}
|
}
|
||||||
|
|
||||||
float dot(Vector other){
|
public float dot(Vector other){
|
||||||
return x * other.x + y * other.y + z * other.z;
|
return x * other.x + y * other.y + z * other.z;
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector cross(Vector other){
|
public Vector cross(Vector other){
|
||||||
return new Vector(this.y*other.z - this.z*other.y, this.z*other.x - this.x*other.z, this.x*other.y - this.y*other.x);
|
return new Vector(this.y*other.z - this.z*other.y, this.z*other.x - this.x*other.z, this.x*other.y - this.y*other.x);
|
||||||
}
|
}
|
||||||
|
|
||||||
Vector normalize(){
|
public Vector normalize(){
|
||||||
float mag = this.mag();
|
float mag = this.mag();
|
||||||
return new Vector(x / mag, y / mag, z / mag);
|
return new Vector(x / mag, y / mag, z / mag);
|
||||||
}
|
}
|
||||||
@@ -70,14 +76,24 @@ public class Vector {
|
|||||||
* @param other
|
* @param other
|
||||||
* @return
|
* @return
|
||||||
*/
|
*/
|
||||||
float angleDiff(Vector other){
|
public float angleDiff(Vector other){
|
||||||
float dot = this.dot(other); // dot product
|
float dot = this.dot(other); // dot product
|
||||||
float det = this.x*other.y - this.y*other.x; // determinant
|
float det = this.x*other.y - this.y*other.x; // determinant
|
||||||
float angle = (float) atan2(det, dot); // atan2(y, x) or atan2(sin, cos)
|
float angle = (float) atan2(det, dot); // atan2(y, x) or atan2(sin, cos)
|
||||||
return angle;
|
return angle;
|
||||||
}
|
}
|
||||||
|
|
||||||
float angle(){
|
public float angle(){
|
||||||
return (float) atan2(y, x);
|
return (float) atan2(y, x);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public Vector rotate2D(float angle){
|
||||||
|
float distance = mag();
|
||||||
|
float currentAngle = this.angle();
|
||||||
|
return new Vector(cos(currentAngle + angle), sin(currentAngle + angle)).mul(distance);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void draw(PApplet proc){
|
||||||
|
proc.circle(this.x, this.y, 8);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
@@ -1,8 +1,7 @@
|
|||||||
|
import Graph.PointGraph;
|
||||||
|
import Vector.Vector;
|
||||||
import processing.core.*;
|
import processing.core.*;
|
||||||
import java.util.ArrayList;
|
import java.util.ArrayList;
|
||||||
import java.util.Objects;
|
|
||||||
|
|
||||||
import static processing.core.PApplet.*;
|
|
||||||
|
|
||||||
public class View {
|
public class View {
|
||||||
Vector pose;
|
Vector pose;
|
||||||
@@ -23,7 +22,7 @@ public class View {
|
|||||||
public void setRayNum(int numberOfRays, float FOV, float angleOffset) {
|
public void setRayNum(int numberOfRays, float FOV, float angleOffset) {
|
||||||
float rayStep = FOV / numberOfRays;
|
float rayStep = FOV / numberOfRays;
|
||||||
rays.clear();
|
rays.clear();
|
||||||
float angle = (float) (0.01 - angleOffset); //the 0.01 fixes some bugs
|
float angle = (float) (angleOffset); //the 0.01 fixes some bugs
|
||||||
for (int i = 0; i < numberOfRays; i++) {
|
for (int i = 0; i < numberOfRays; i++) {
|
||||||
Ray ray = new Ray(pose, angle);
|
Ray ray = new Ray(pose, angle);
|
||||||
angle = angle + rayStep;
|
angle = angle + rayStep;
|
||||||
@@ -32,10 +31,13 @@ public class View {
|
|||||||
}
|
}
|
||||||
|
|
||||||
//sees if the ray will collide with the walls in the wall list
|
//sees if the ray will collide with the walls in the wall list
|
||||||
public void look(ArrayList<Wall> walls) {
|
public void look(PointGraph map) {
|
||||||
for (Ray ray : rays) {
|
for (Ray ray : rays) {
|
||||||
ray.castRay(walls);
|
ray.castRay(map);
|
||||||
ray.drawRay(proc);
|
if(ray.hasCollided()){
|
||||||
|
ray.getPoint().draw(proc);
|
||||||
|
// ray.drawRay(proc);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -50,7 +52,10 @@ public class View {
|
|||||||
//changes the angle of the view
|
//changes the angle of the view
|
||||||
public void setAngle(float angle) {
|
public void setAngle(float angle) {
|
||||||
this.angle = angle;
|
this.angle = angle;
|
||||||
this.setRayNum(rays.size(), this.FOV, angle);
|
for(Ray ray : rays){
|
||||||
|
float angleOffset = ray.getAngle() - this.angle;
|
||||||
|
ray.setAngle(this.angle+angleOffset);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//changes the field of view of the view
|
//changes the field of view of the view
|
||||||
@@ -80,12 +85,27 @@ public class View {
|
|||||||
ArrayList<Vector> points = new ArrayList<>();
|
ArrayList<Vector> points = new ArrayList<>();
|
||||||
|
|
||||||
for (Ray ray : rays) {
|
for (Ray ray : rays) {
|
||||||
if (!Objects.equals(ray.getPoint(), new Vector(0, 0) {
|
if(ray.hasCollided()){
|
||||||
})) {
|
Vector point = ray.getPoint();
|
||||||
points.add(ray.getPoint());
|
// store the angle information for that point in the z coordinate
|
||||||
|
point.z = ray.getAngle();
|
||||||
|
points.add(point);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
return points;
|
return points;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @return A list of the angles where a collision was detected
|
||||||
|
*/
|
||||||
|
public ArrayList<Float> getAngles(){
|
||||||
|
ArrayList<Float> angles = new ArrayList<>();
|
||||||
|
for (Ray ray : rays) {
|
||||||
|
if (ray.hasCollided()){
|
||||||
|
angles.add(ray.getAngle());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return angles;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -1,39 +0,0 @@
|
|||||||
import processing.core.*;
|
|
||||||
|
|
||||||
import static processing.core.PApplet.*;
|
|
||||||
|
|
||||||
public class Wall extends Line{
|
|
||||||
int r;
|
|
||||||
int g;
|
|
||||||
int b;
|
|
||||||
|
|
||||||
private final PApplet proc;
|
|
||||||
|
|
||||||
Wall(PApplet proc, Vector pos, float angle, int wallLength){
|
|
||||||
super(pos, (new Vector(cos(angle), sin(angle)).mul(wallLength)).add(pos));
|
|
||||||
this.proc = proc;
|
|
||||||
r = (int)proc.random(50, 255);
|
|
||||||
g = (int)proc.random(50, 255);
|
|
||||||
b = (int)proc.random(50, 255);
|
|
||||||
}
|
|
||||||
|
|
||||||
Wall(PApplet proc, Vector startPos, Vector endPos){
|
|
||||||
super(startPos, endPos);
|
|
||||||
this.proc = proc;
|
|
||||||
r = (int)proc.random(50, 255);
|
|
||||||
g = (int)proc.random(50, 255);
|
|
||||||
b = (int)proc.random(50, 255);
|
|
||||||
}
|
|
||||||
|
|
||||||
void drawWall(){
|
|
||||||
proc.stroke(r,g,b);
|
|
||||||
proc.strokeWeight(10);
|
|
||||||
proc.circle(position.x, position.y, 10);
|
|
||||||
proc.strokeWeight(2);
|
|
||||||
proc.line(position.x, position.y, position.x + direction.x, position.y + direction.y);
|
|
||||||
}
|
|
||||||
|
|
||||||
Vector getPos(){
|
|
||||||
return position;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,8 +1,8 @@
|
|||||||
|
import Vector.Vector;
|
||||||
|
import Vector.Line;
|
||||||
import org.junit.jupiter.api.Test;
|
import org.junit.jupiter.api.Test;
|
||||||
import processing.core.PApplet;
|
|
||||||
|
|
||||||
import java.util.ArrayList;
|
import java.util.ArrayList;
|
||||||
import java.util.List;
|
|
||||||
import java.util.Random;
|
import java.util.Random;
|
||||||
|
|
||||||
import static java.lang.Math.abs;
|
import static java.lang.Math.abs;
|
||||||
@@ -83,20 +83,4 @@ class LineTest{
|
|||||||
assertFloatEquals(v1.y, line.getPosition().y);
|
assertFloatEquals(v1.y, line.getPosition().y);
|
||||||
}
|
}
|
||||||
|
|
||||||
@Test
|
|
||||||
public void testAngle(){
|
|
||||||
Line ray = new Line(new Vector(680, 560), new Vector(680+116, 560+1));
|
|
||||||
Line wall = new Line(new Vector(675, 587), new Vector(675-114, 587-29));
|
|
||||||
|
|
||||||
|
|
||||||
float angle1 = wall.position.sub(ray.position).angle();
|
|
||||||
float angle2 = wall.endPoint().sub(ray.position).angle();
|
|
||||||
float rayAngle = ray.direction.angle();
|
|
||||||
|
|
||||||
System.out.println("Angle 1: " + String.valueOf(angle1) + ", Angle 2: " + String.valueOf(angle2) + ", Ray Angle: " + String.valueOf(rayAngle));
|
|
||||||
assertFloatEquals(1.753907144057f, angle1, 0.001f);
|
|
||||||
assertFloatEquals(3.1583977941048f, angle2, 0.001f);
|
|
||||||
assertFloatEquals(0.0086204761121f, rayAngle, 0.001f);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
@@ -1,5 +1,5 @@
|
|||||||
|
import Vector.Vector;
|
||||||
import org.junit.jupiter.api.Test;
|
import org.junit.jupiter.api.Test;
|
||||||
import processing.core.PApplet;
|
|
||||||
|
|
||||||
import static java.lang.Math.*;
|
import static java.lang.Math.*;
|
||||||
import static org.junit.jupiter.api.Assertions.*;
|
import static org.junit.jupiter.api.Assertions.*;
|
||||||
@@ -28,8 +28,8 @@ class VectorTest{
|
|||||||
assertFloatEquals((float)sqrt(x2*x2 + y2*y2), v2.mag());
|
assertFloatEquals((float)sqrt(x2*x2 + y2*y2), v2.mag());
|
||||||
|
|
||||||
// test dot product
|
// test dot product
|
||||||
assertFloatEquals((float)(x1*x2+y1*y2), v1.dot(v2));
|
assertFloatEquals((x1*x2+y1*y2), v1.dot(v2));
|
||||||
assertFloatEquals((float)(x1*x2+y1*y2), v2.dot(v1));
|
assertFloatEquals((x1*x2+y1*y2), v2.dot(v1));
|
||||||
|
|
||||||
// test addition
|
// test addition
|
||||||
Vector vSum = v1.add(v2);
|
Vector vSum = v1.add(v2);
|
||||||
|
|||||||
Reference in New Issue
Block a user