public static void main(String argv[]) {
System.out.println("Alas");
int max = 100;
double averate = 0;
double avedelta = 0;
for (int i = 0; i < max; i++) {
Color c1 = GetRandomColor();
Color c2 = GetRandomColor();
double Altitude1 = GetAltitude(c1);
double Altitude2 = GetAltitude(c2);
double dealtaltitude = Math.abs(Altitude1 - Altitude2);
double dist = ColorDistCalculator.CalDist(c1, c2);
double rate = Math.abs((dealtaltitude - dist) / dist);
double delta = Math.abs((dealtaltitude - dist));
averate += rate;
avedelta += delta;
System.out.println(
c1.toHexString()
+ " "
+ c2.toHexString()
+ " "
+ Altitude1
+ " "
+ Altitude2
+ " "
+ dist);
}
averate /= max;
avedelta /= max;
System.out.println("Final " + averate + " " + avedelta);
}
public static void process(TreeMap<Double, Double> points, double threshold) {
double[] sol;
while (true) {
sol = solve(points);
double maxError = 0;
double maxErrorPoint = 0;
for (double s : points.keySet()) {
double dist = Math.abs(s * sol[0] + sol[1] - points.get(s));
if (dist > maxError) {
maxError = dist;
maxErrorPoint = s;
}
}
points.remove(maxErrorPoint);
if (maxError < threshold) break;
}
System.out.println(
"solution: "
+ sol[0]
+ ", "
+ sol[1]
+ "; fix: "
+ sol[1] / (1 - sol[0])
+ "; "
+ points.size()
+ " points");
}
public void valueIteration(int i) {
double delta;
double v;
List<State> states = mdp.getStates();
State win = states.get(3);
State death = states.get(7);
State blocked = states.get(5);
states.remove(win);
states.remove(death);
states.remove(blocked);
while (true) {
delta = 0;
for (State s : states) {
v = values.get(s);
double vdelta = maxa(s);
values.put(s, vdelta);
// System.out.println("vdelta: "+vdelta);
delta = Math.max(delta, Math.abs(v - vdelta));
// System.out.println("delta:" + delta);
}
if (delta < EPS || i == 0) {
// values.put(mdp.getStates().get(3), 0.00);
// values.put(mdp.getStates().get(7), 0.00);
return;
}
i--;
}
}
private void loop() {
speed = Math.min(speed + DELAY / 1000d / RAMP, targetPower);
if (Math.abs(angleError(targetAngle)) > Math.PI) System.out.println(angleError(targetAngle));
if (Math.abs(angleError(targetAngle)) > Math.PI / 2) {
steer.set(
Math.max(
-STEER_CAP, Math.min(STEER_CAP, STEER_GAIN * angleError(targetAngle - Math.PI))));
drive.set(-speed);
} else {
steer.set(Math.max(-STEER_CAP, Math.min(STEER_CAP, STEER_GAIN * angleError(targetAngle))));
drive.set(speed);
}
if (driveEncoder != null) {
double enc = driveEncoder.get();
double angle = getAngle() - gyro.getAngle() * Math.PI / 180 + Math.PI / 2;
x += (enc - encLast) * Math.cos(angle);
y += (enc - encLast) * Math.sin(angle);
encLast = enc;
}
try {
Thread.sleep(DELAY);
} catch (Exception e) {
}
}
