public ModifiedGoToObjectPFN(
double stopDistance,
boolean slowDownCloseToTarget,
double opponentPower,
double opponentInfluenceDistance,
double targetPower,
double alpha) {
this.stopDistance = 0;
setSlowDownCloseToTarget(slowDownCloseToTarget);
OPPONENT_POWER = opponentPower;
OPPONENT_INFLUENCE_DISTANCE = opponentInfluenceDistance;
TARGET_POWER = targetPower;
ALPHA = alpha;
setSlowDownCloseToTarget(slowDownCloseToTarget);
RobotConf conf = new RobotConf(ROBOT_TRACK_WIDTH, WHEEL_RADIUS);
// plann = new PFPlanning(conf, 0, 1, 12, 0.5); // No opponent avoidance
// Avoids opponent:
plann = new PFPlanning(conf, OPPONENT_POWER, OPPONENT_INFLUENCE_DISTANCE, TARGET_POWER, ALPHA);
// Add walls
double wallPower = 10;
double wallInfDist = -0.05;
RectObject leftWall =
new RectObject(new Point(0, Globals.PITCH_HEIGHT), new Point(0, 0), wallPower, wallInfDist);
RectObject rightWall =
new RectObject(
new Point(Globals.PITCH_WIDTH, Globals.PITCH_HEIGHT),
new Point(Globals.PITCH_WIDTH, 0),
wallPower,
wallInfDist);
RectObject topWall =
new RectObject(
new Point(0, Globals.PITCH_HEIGHT),
new Point(Globals.PITCH_WIDTH, Globals.PITCH_HEIGHT),
wallPower,
wallInfDist);
RectObject bottomWall =
new RectObject(new Point(0, 0), new Point(Globals.PITCH_WIDTH, 0), wallPower, wallInfDist);
plann.addObject(leftWall);
plann.addObject(rightWall);
plann.addObject(topWall);
plann.addObject(bottomWall);
}