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// goto_circle.cc
// nono - programme du robot 2004. {{{
//
// Copyright (C) 2004 Nicolas Schodet
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
#include "goto_circle.h"
#include "utils/mathutil.h"

#include <iostream> // XXX

/// Constructeur.
/// r : rayon (mm).
/// a : angle (rad > 0).
GotoCircle::GotoCircle (double r, double a)
    : r_ (r), a_ (a), cx_ (0.0), cy_ (0.0)
{
}

/// Initialise le Goto, appel� au d�but de la trajectoire.
void
GotoCircle::init (const Tracker &t)
{
    // Calcule le centre de rotation.
    double x, y, a;
    t.getPos (x, y, a);
    cx_ = x - sin (a) * r_;
    cy_ = y + cos (a) * r_;
    // Calcule l'angle de destination.
    a_ = a_ + a - M_PI * 0.5;
std::cout << "goto: circle: init " << cx_ << ' ' << cy_ << ' ' << a_ << std::endl;
}

/// Fournit la distance au point final (mm), le point le plus loin � moins
/// de distmax (mm) et renvois false si le Goto est fini.
/// eps : distance (mm) en dessous de laquelle on consid�re que la destination
/// est atteinte.
/// distmax : distance (mm) maximale du point.
/// dist : distance (mm) au point final.
/// (x, y) : point interm�diaire (mm).
bool
GotoCircle::get (const Tracker &t, double distmax, double eps, double &dist,
		 double &x, double &y)
{
    double dx, dy;
    dx = t.getX () - cx_;
    dy = t.getY () - cy_;
    // Calcule l'angle et la distance avec le centre.
    double d, a;
    toPolair (dx, dy, d, a);
std::cout << "goto: circle: polair " << d << ' ' << a << std::endl;
    // Calcule le point interm�diaire.
    double aInter, da;
    da = angleNorm (a_ - a);
    // Corection si angle n�gatif et que c'est pas cool.
    if (r_ > 0.0 && da < 0.0)
      {
	da = 2.0 * M_PI - da;
      }
    else if (r_ < 0.0 && da > 0.0)
      {
	da = -2.0 * M_PI + da;
      }
std::cout << "goto: circle: dists " << d << ' ' << r_ << ' ' << distmax << std::endl;
    if (d > r_ + distmax || r_ > distmax + d)
      {
	// Pas d'intersection.
std::cout << "goto: circle: miss" << std::endl;
	aInter = a;
      }
    else
      {
	// Intersection.
	double f, ia;
	f = (r_ * r_ - distmax * distmax + d * d) / (2.0 * d);
	ia = acos (f / r_);
std::cout << "goto: circle: diff " << da << ' ' << ia << std::endl;
	if (da < ia && da > -ia)
	  {
	    // On est tout pr�s, renvois le point destination.
	    aInter = a_;
	    std::cout << "goto: circle: near" << std::endl;
	  }
	else
	  {
	    std::cout << "goto: circle: far" << std::endl;
	    // On est loin, renvois un point interm�diaire.
	    if (r_ > 0.0)
		aInter = a + ia;
	    else
		aInter = M_PI + a - ia;
	  }
      }
    x = cx_ + r_ * cos (aInter);
    y = cy_ + r_ * sin (aInter);
    dist = da * r_;
    return dist > eps;
}