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DOCUMENTATION


 

The Source Code has been written in Java and the interface has been made using OPENGL. In keeping with the Object Oriented Programming technique we have defined the following OBJECTS:

  • Point
  • Edge
  • Road
  • Robot
  • Obstacle
  • Proj (it calls all the classes)

In class Obst following functions are defined

  1. public Obst( Vector pVect1)
  2. // To print the coordinates of the obstacles: void print_coordinates()
  3. // To move the vehicle ahead after 0.1 sec: void move_ahead( double time)
  4. // The theeta given is the direction of the velocity: double get_poten( double theeta, Point point)
  5. // To transform the given point
  6. // calculating the coordinates after rotating the axes by theeta
  7. // Calculating the index of topmost, lowermost, leftmost and rightmost in new coordinate system
  8. void makeEdges()
  9. boolean equal_to( double x, double y)
  10. //Creates CSpace: void createCObst( Robot robot)
  11. // To find the topmost point in the robot
  12. // To find the lowermost point in the obstacle
  13. // to arrange the edges in the ascending order of their angle with respect to x-axis
  14. // To find the cs_pVect
  15. // To print the points of the c_obstacle
In class Robot following functions are defined
  1. public class Robot
  2. // pvect1 here is assumed that point A is in the first position and then in clockwise direction
  3. //Print the coordinates of the robot: void print_coordinates()
  4. // To move the robot ahead: void move_ahead( double x_dist, double y_dist)
  5. // Rotating the car (ie. robot)
  6. // changing the position of the robot
In class Proj following functions are defined
  1. public static void main( String args[])
  2. // Initialising the robot
  3. // To calculate the speed of the robot
  4. // To calclulate the next position of the robot
  5. // To print the speed of robot
  6. // To move the obstacle
  7. // To print the coordinates of the robot and Obstacles : robot.print_coordinates()
  8. double get_total_poten( Road roadLeft, Road roadRight, Vector all_obstac le, Point point, double theeta)

 

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