/*
* Datei: JebensAgent.java
* Autor(en): Lukas König
* Java-Version: 6.0
* Erstellt: 01.10.2010
*
* (c) This file and the EAS (Easy Agent Simulation) framework containing it
* is protected by Creative Commons by-nc-sa license. Any altered or
* further developed versions of this file have to meet the agreements
* stated by the license conditions.
*
* In a nutshell
* -------------
* You are free:
* - to Share -- to copy, distribute and transmit the work
* - to Remix -- to adapt the work
*
* Under the following conditions:
* - Attribution -- You must attribute the work in the manner specified by the
* author or licensor (but not in any way that suggests that they endorse
* you or your use of the work).
* - Noncommercial -- You may not use this work for commercial purposes.
* - Share Alike -- If you alter, transform, or build upon this work, you may
* distribute the resulting work only under the same or a similar license to
* this one.
*
* + Detailed license conditions (Germany):
* http://creativecommons.org/licenses/by-nc-sa/3.0/de/
* + Detailed license conditions (unported):
* http://creativecommons.org/licenses/by-nc-sa/3.0/deed.en
*
* This header must be placed in the beginning of any version of this file.
*/
package eas.users.other.kristof;
import java.awt.Color;
import java.util.Random;
import eas.math.geometry.Polygon2D;
import eas.math.geometry.Vector2D;
import eas.simulation.agent.GenericActuator;
import eas.simulation.spatial.sim2D.standardAgents.AbstractAgent2D;
import eas.simulation.spatial.sim2D.standardEnvironments.AbstractEnvironment2D;
import eas.startSetup.ParCollection;
/**
* @author Lukas König
*
*/
public class JebensAgent extends AbstractAgent2D<AbstractEnvironment2D<?>> {
/**
*
*/
private static final long serialVersionUID = 5621764931052793747L;
public JebensAgent(int id, AbstractEnvironment2D<?> env, ParCollection params) {
super(id, env, params);
this.addActuator(new GenericActuator<AbstractEnvironment2D<AbstractAgent2D<?>>, AbstractAgent2D<?>>() {
/**
*
*/
private static final long serialVersionUID = 4819517684349211150L;
private double left;
private double right;
private Random rand = new Random();
@Override
public void actuate(AbstractEnvironment2D<AbstractAgent2D<?>> env, AbstractAgent2D<?> agent) {
this.left += rand.nextGaussian() / 10;
this.right += rand.nextGaussian() / 10;
this.left *= 0.998;
this.right *= 0.998;
if (rand.nextDouble() < 0.15) {
if (this.left < this.right) {
this.left += Math.abs(this.right) / 3;
} else {
this.left -= Math.abs(this.right) / 3;
}
}
env.setWheelSpeedLeft(agent.id(), this.left * 1);
env.setWheelSpeedRight(agent.id(), this.right * 1);
if (!env.differentialDriveForward(agent.id())) {
this.left *= -1;
this.right *= -1;
}
}
@Override
public String id() {
return "drive";
}
});
}
private Polygon2D shape;
@Override
public Polygon2D getAgentShape() {
if (this.shape == null) {
this.shape = new Polygon2D();
this.shape.add(new Vector2D(-10, -10));
this.shape.add(new Vector2D(10, -10));
this.shape.add(new Vector2D(10, 10));
this.shape.add(new Vector2D(-10, 10));
}
return shape;
}
@Override
public Color getAgentColor() {
return Color.blue;
}
}