trunk/src/breve/Celdas.tz

   1 @use PhysicalControl.\r
   2 @use Shape.\r
   3 @use Stationary.\r
   4 @use Link.\r
   5 @use MultiBody.\r
   6 @use Drawing.\r
   7 @use SistemaAutonomo.\r
   8 \r
   9 @define CELDAS_MAX_VELOCITY 30.\r
  10 @define CELDAS_TURNO 80.\r
  11 @define CELDAS_SENSOR_THRESHOLD 9.\r
  12 @define CELDAS_VECTOR_ERROR 0.5.\r
  13 \r
  14 PhysicalControl : CeldasControl {\r
  15         % This class is used for building simple vehicle \r
  16         % simulations.  To create a vehicle simulation, \r
  17         % subclass CeldasControl and use the init method to \r
  18         % create OBJECT(CeldasObstacle) and \r
  19         % OBJECT(CeldasVehicle) objects.\r
  20 \r
  21         + variables:\r
  22                 floor (object).\r
  23                 floorShape (object).\r
  24                 cloudTexture (object).\r
  25 \r
  26 \r
  27         + to init:\r
  28                 self enable-lighting.\r
  29                 #self enable-smooth-drawing.\r
  30 \r
  31                 floorShape = new Shape.\r
  32                 floorShape init-with-cube size (200, .2, 200).\r
  33 \r
  34                 floor = new Stationary.\r
  35                 floor register with-shape floorShape at-location (0, 0, 0).\r
  36                 #floor catch-shadows.\r
  37 \r
  38                 self point-camera at (0, 0, 0) from (3, 3, 24).\r
  39 \r
  40                 #self enable-shadows.\r
  41                 #self enable-reflections.\r
  42 \r
  43                 cloudTexture = (new Image load from "images/clouds.png"). \r
  44                 self set-background-color to (.4, .6, .9).\r
  45                 self set-background-texture-image to cloudTexture.\r
  46 \r
  47 }\r
  48 \r
  49 MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) {\r
  50         % This object is used in conjunction with OBJECT(CeldasControl) to\r
  51         % create simple vehicles.\r
  52 \r
  53         + variables:\r
  54                 bodyShape (object).\r
  55                 wheelShape (object).\r
  56                 sensorShape (object).\r
  57                 bodyLink (object).\r
  58 \r
  59                 wheels (list).\r
  60 \r
  61         + to init:\r
  62                 bodyShape = new Shape.\r
  63                 bodyShape init-with-cube size (4.0, .75, 3.0).  \r
  64 \r
  65                 wheelShape = new Shape.\r
  66                 wheelShape init-with-polygon-disk radius ( self get-wheel-radius ) sides 20 height ( self get-wheel-width ).\r
  67                 # 40\r
  68 \r
  69                 sensorShape = new Shape.\r
  70                 sensorShape init-with-polygon-cone radius .2 sides 5 height .5.\r
  71                 # 10\r
  72 \r
  73                 bodyShape set-density to ( self get-density ).\r
  74                 bodyLink = new Link.\r
  75                 bodyLink set-shape to bodyShape.        \r
  76                 bodyLink set-mu to -1.0.\r
  77                 bodyLink set-eT to .8.\r
  78 \r
  79                 self set-root to bodyLink.\r
  80 \r
  81                 self move to (0, 0.9, 0).\r
  82                 self set-texture-scale to 1.5.\r
  83 \r
  84         - to get-density:\r
  85                 return 1.0.\r
  86 \r
  87         - to get-wheel-width:\r
  88                 return 0.1.\r
  89 \r
  90         - to get-wheel-radius:\r
  91                 return 0.6.\r
  92 \r
  93         + section "Adding Wheels and Sensors to a Vehicle"\r
  94 \r
  95         + to add-wheel at location (vector):\r
  96                 % Adds a wheel at location on the vehicle.  This method returns\r
  97                 % the wheel which is created, a OBJECT(CeldasWheel).\r
  98 \r
  99                 wheel, joint (object).\r
 100 \r
 101                 wheel = new CeldasWheel.\r
 102                 wheel set-shape to wheelShape.\r
 103 \r
 104                 joint = new RevoluteJoint.\r
 105 \r
 106                 joint set-relative-rotation around-axis (1, 0, 0) by 1.5708.\r
 107                 joint link parent bodyLink to-child wheel with-normal (0, 0, 1)\r
 108                                         with-parent-point location with-child-point (0, 0, 0).\r
 109 \r
 110                 wheel set-eT to .8.\r
 111                 wheel set-texture to 0.\r
 112                 wheel set-joint to joint.\r
 113                 joint set-strength-limit to (joint get-strength-hard-limit) / 2.\r
 114                 wheel set-color to (.6, .6, .6).\r
 115                 wheel set-mu to 100000.\r
 116 \r
 117                 self add-dependency on joint.\r
 118                 self add-dependency on wheel.\r
 119 \r
 120                 push wheel onto wheels.\r
 121 \r
 122                 return wheel.\r
 123 \r
 124         + to add-sensor at location (vector) with-direction direction = (0,1,0)(vector) :\r
 125                 % Adds a sensor at location on the vehicle.  This method returns\r
 126                 % the sensor which is created, a OBJECT(CeldasSensor).\r
 127 \r
 128                 sensor, joint (object).\r
 129 \r
 130                 sensor = new CeldasSensor.\r
 131                 sensor set-direction to direction.\r
 132                 \r
 133                 sensor set-shape to sensorShape.\r
 134 \r
 135                 joint = new RevoluteJoint.\r
 136 \r
 137                 joint set-relative-rotation around-axis (0, 0, 1) by -1.57.\r
 138                 joint link parent bodyLink to-child sensor with-normal (1, 0, 0)\r
 139                                         with-parent-point location with-child-point (0, 0, 0).\r
 140 \r
 141                 joint set-double-spring with-strength 300 with-max 0.01 with-min -0.01.\r
 142 \r
 143                 self add-dependency on joint.\r
 144                 self add-dependency on sensor.\r
 145 \r
 146                 sensor set-color to (0, 0, 0).\r
 147 \r
 148                 #push sensor onto sensors.\r
 149 \r
 150                 return sensor.\r
 151 \r
 152         + to destroy:\r
 153                 free sensorShape.\r
 154                 free wheelShape.\r
 155                 free bodyShape.\r
 156 \r
 157                 super destroy.\r
 158 }\r
 159 \r
 160 CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {\r
 161         % A heavy duty version of OBJECT(CeldasLightVehicle), this\r
 162         % vehicle is heavier and harder to control, but more stable\r
 163         % at higher speeds.\r
 164         +variables:\r
 165                 lSensor, rSensor, fSensor, bSensor (object).\r
 166                 lfWheel,rfWheel,lbWheel,rbWheel (object).\r
 167                 tleft,tright (int).         \r
 168                 avanzando,retrocediendo,girando_izq,girando_der(int).       \r
 169                 iterate(int).\r
 170                 teorias (list).\r
 171                 sa (object).\r
 172                 teoria (object).\r
 173                 entorno (hash).\r
 174                 datos-finales (hash).\r
 175                 plan_finished (int).\r
 176         \r
 177         - to get-density:\r
 178                 return 20.0.\r
 179 \r
 180         - to get-wheel-width:\r
 181                 return 0.4.\r
 182 \r
 183         - to get-wheel-radius:\r
 184                 return 0.8.\r
 185 \r
 186         - to compare-vectors compare-vector vector1(vector) with-vector vector2(vector):\r
 187                 vectorAux(vector).\r
 188                 vectorAux=vector1-vector2.\r
 189 \r
 190                 if ((|vectorAux::x|<CELDAS_VECTOR_ERROR) && (|vectorAux::y|<CELDAS_VECTOR_ERROR) && (|vectorAux::z|<CELDAS_VECTOR_ERROR))\r
 191                         return 1.\r
 192 \r
 193                 return 0.\r
 194                 \r
 195         + to set-global-velocity to velocity (float):\r
 196                 rfWheel set-velocity to velocity.\r
 197                 lfWheel set-velocity to velocity.\r
 198                 rbWheel set-velocity to velocity.\r
 199                 lbWheel set-velocity to velocity.\r
 200 \r
 201         + to get-global-velocity:\r
 202                 return ((rfWheel get-velocity) + (lfWheel get-velocity)) / 2.\r
 203 \r
 204         + to turn-right:                \r
 205                 tright++.\r
 206 \r
 207                 self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. \r
 208                         \r
 209                 if (tright == CELDAS_TURNO): tright=0.\r
 210 \r
 211 \r
 212         + to turn-left:\r
 213                 tleft++.\r
 214 \r
 215                 self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft. \r
 216                         \r
 217                 if (tleft == CELDAS_TURNO): tleft=0.\r
 218 \r
 219 \r
 220         + to get-sensor-value:\r
 221                 return (fSensor get-sensor-value).\r
 222 \r
 223 \r
 224 \r
 225         +to update-entorno:\r
 226                 entorno{"sensor_f"} = (fSensor get-sensor-value).\r
 227                 entorno{"sensor_b"} = (bSensor get-sensor-value).\r
 228                 entorno{"sensor_r"} = (rSensor get-sensor-value).\r
 229                 entorno{"sensor_l"} = (lSensor get-sensor-value).\r
 230                 entorno{"movido"} = 0. # TODO\r
 231                 sa update-entorno with entorno.            \r
 232 \r
 233         +to init:\r
 234                 # Configuracion de robot\r
 235                 fSensor = (self add-sensor at (2.0, .4, 0)).            \r
 236                 fSensor set-direction to (1,0,0).\r
 237                 #fSensor set-direction to (0,0,1).\r
 238                 fSensor set-id at 1.\r
 239                 fSensor set-body at self.\r
 240                 bSensor = (self add-sensor at (-2.0, .4, 0)).\r
 241                 bSensor set-direction to (-1,0,0).\r
 242                 #bSensor set-direction to (0,0,1).\r
 243                 bSensor set-id at 2.\r
 244                 bSensor set-body at self.\r
 245                 lSensor = (self add-sensor at (0, .4, 1.5)).\r
 246                 lSensor set-direction to (0,0,1).\r
 247                 #lSensor set-direction to (1,0,0).\r
 248                 lSensor set-id at 3.\r
 249                 lSensor set-body at self.\r
 250 \r
 251                 rSensor = (self add-sensor at (0, .4, -1.5)).\r
 252                 rSensor set-direction to (0,0,-1).\r
 253                 #rSensor set-direction to (-1,0,0).\r
 254                 rSensor set-id at 4.\r
 255                 rSensor set-body at self.\r
 256 \r
 257                 lfWheel = (self add-wheel at (2, 0, -1.5)).\r
 258                 lbWheel = (self add-wheel at (-2, 0, -1.5)).\r
 259                 rfWheel = (self add-wheel at (2, 0, 1.5)).\r
 260                 rbWheel = (self add-wheel at (-2, 0, 1.5)).\r
 261 \r
 262                 tleft=tright=0.\r
 263                 avanzando=0.\r
 264                 retrocediendo=0.\r
 265                 girando_izq=0.            \r
 266                 girando_der=0.            \r
 267 \r
 268                 # Configuracion de sistema autonomo\r
 269                 sa = new SistemaAutonomo.\r
 270                 sa init with-max-pasos 4 with-max-teorias 15.\r
 271                 iterate = 0.\r
 272                 plan_finished = 1. # así planificamos apenas empezamos\r
 273 \r
 274                 teorias = 4 new Teorias.\r
 275                 teorias{0} init named "Avanzar" with-action "adelante".\r
 276                 teorias{0} set-dato-inicial name "sensor_f" value 0.\r
 277                 teorias{0} set-dato-inicial name "sensor_b" value ANY.\r
 278                 teorias{0} set-dato-inicial name "sensor_r" value ANY.\r
 279                 teorias{0} set-dato-inicial name "sensor_l" value ANY.\r
 280                 teorias{0} set-dato-inicial name "movido" value ANY.\r
 281                 teorias{0} set-dato-final name "sensor_f" value ANY.\r
 282                 teorias{0} set-dato-final name "sensor_b" value ANY.\r
 283                 teorias{0} set-dato-final name "sensor_r" value ANY.\r
 284                 teorias{0} set-dato-final name "sensor_l" value ANY.\r
 285                 teorias{0} set-dato-final name "movido" value 1.\r
 286 \r
 287                 teorias{1} init named "Retroceder" with-action "atras".\r
 288                 teorias{1} set-dato-inicial name "sensor_f" value 1.\r
 289                 teorias{1} set-dato-inicial name "sensor_b" value ANY.\r
 290                 teorias{1} set-dato-inicial name "sensor_r" value ANY.\r
 291                 teorias{1} set-dato-inicial name "sensor_l" value ANY.\r
 292                 teorias{1} set-dato-inicial name "movido" value ANY.\r
 293                 teorias{1} set-dato-final name "sensor_f" value 0.\r
 294                 teorias{1} set-dato-final name "sensor_b" value ANY.\r
 295                 teorias{1} set-dato-final name "sensor_r" value ANY.\r
 296                 teorias{1} set-dato-final name "sensor_l" value ANY.\r
 297                 teorias{1} set-dato-final name "movido" value 1.\r
 298 \r
 299                 teorias{2} init named "Rotar a derecha" with-action "derecha".\r
 300                 teorias{2} set-dato-inicial name "sensor_f" value 1.\r
 301                 teorias{2} set-dato-inicial name "sensor_b" value ANY.\r
 302                 teorias{2} set-dato-inicial name "sensor_r" value ANY.\r
 303                 teorias{2} set-dato-inicial name "sensor_l" value ANY.\r
 304                 teorias{2} set-dato-inicial name "movido" value ANY.\r
 305                 teorias{2} set-dato-final name "sensor_f" value 0.\r
 306                 teorias{2} set-dato-final name "sensor_b" value ANY.\r
 307                 teorias{2} set-dato-final name "sensor_r" value ANY.\r
 308                 teorias{2} set-dato-final name "sensor_l" value 1.\r
 309                 teorias{2} set-dato-final name "movido" value 0.\r
 310 \r
 311                 teorias{3} init named "Rotar a izquierda" with-action "izquierda".\r
 312                 teorias{3} set-dato-inicial name "sensor_f" value 1.\r
 313                 teorias{3} set-dato-inicial name "sensor_b" value ANY.\r
 314                 teorias{3} set-dato-inicial name "sensor_r" value ANY.\r
 315                 teorias{3} set-dato-inicial name "sensor_l" value ANY.\r
 316                 teorias{3} set-dato-inicial name "movido" value ANY.\r
 317                 teorias{3} set-dato-final name "sensor_f" value 0.\r
 318                 teorias{3} set-dato-final name "sensor_b" value ANY.\r
 319                 teorias{3} set-dato-final name "sensor_r" value 1.\r
 320                 teorias{3} set-dato-final name "sensor_l" value ANY.\r
 321                 teorias{3} set-dato-final name "movido" value 0.\r
 322 \r
 323                 sa add teoria teorias{0}.\r
 324                 sa add teoria teorias{1}.\r
 325                 sa add teoria teorias{2}.\r
 326                 sa add teoria teorias{3}.\r
 327 \r
 328                 datos-finales{"movido"} = 1.\r
 329                 sa update-datos-finales with datos-finales.\r
 330 \r
 331         +to iterate:\r
 332                 self update-entorno.\r
 333 \r
 334                 if (0): # TODO posicion_final == posicion_actual\r
 335                 {\r
 336                         print "Llegamos al FINAL!!!".\r
 337                         self set-global-velocity to 0.\r
 338                         return.\r
 339                 }\r
 340 \r
 341                 if (plan_finished):\r
 342                 {\r
 343                         sa plan. # Si no tenemos plan, lo hacemos\r
 344                         plan_finished = 0.\r
 345                         # TODO posicion_inicial = posicion_actual\r
 346                         if (! (sa has-next-theory)):\r
 347                         {\r
 348                                 plan_finished = 1.\r
 349                                 print "El planificador no encuentra PLAN!!!".\r
 350                                 return.\r
 351                         }\r
 352                 }\r
 353 \r
 354                 if (iterate == 0):\r
 355                 {\r
 356                         if (sa has-next-theory):\r
 357                         {\r
 358                                 teoria = sa get-next-theory.\r
 359                                 if ((teoria get-accion) == "adelante"):\r
 360                                 {\r
 361                                         avanzando = 1.\r
 362                                         retrocediendo = 0.\r
 363                                         girando_izq = 0.\r
 364                                         girando_der = 0.\r
 365                                 }\r
 366                                 if ((teoria get-accion) == "atras"):\r
 367                                 {\r
 368                                         avanzando = 0.\r
 369                                         retrocediendo = 1.\r
 370                                         girando_izq = 0.\r
 371                                         girando_der = 0.\r
 372                                 }\r
 373                                 if ((teoria get-accion) == "izquierda"):\r
 374                                 {\r
 375                                         avanzando = 0.\r
 376                                         retrocediendo = 0.\r
 377                                         girando_izq = 1.\r
 378                                         girando_der = 0.\r
 379                                 }\r
 380                                 if ((teoria get-accion) == "derecha"):\r
 381                                 {\r
 382                                         avanzando = 0.\r
 383                                         retrocediendo = 0.\r
 384                                         girando_izq = 0.\r
 385                                         girando_der = 1.\r
 386                                 }\r
 387                         }\r
 388                 }\r
 389 \r
 390                 if (iterate == CELDAS_TURNO):\r
 391                 {\r
 392                         # TODO if (posicion_actual == posicion_inicial): movido = false. else movido = true.\r
 393                         if (sa validate theory teoria):\r
 394                         {\r
 395                         }\r
 396                         else\r
 397                         {\r
 398                                 plan_finished = 1.\r
 399                         }\r
 400                 }\r
 401 \r
 402                 iterate++.\r
 403                 if (iterate == CELDAS_TURNO + 1):\r
 404                         iterate = 0.\r
 405 \r
 406                 # Movimiento del robot\r
 407                 if (avanzando):\r
 408                         self set-global-velocity to (15).\r
 409                 if (retrocediendo):\r
 410                         self set-global-velocity to (-15).\r
 411                 if (girando_izq):\r
 412                         self turn-left.\r
 413                 if (girando_der):\r
 414                         self turn-right.\r
 415 \r
 416 }\r
 417 \r
 418 Stationary : CeldasObstacle (aka CeldasObstacles) {\r
 419         % A CeldasObstacle is used in conjunction with OBJECT(CeldasControl)\r
 420         % and OBJECT(CeldasVehicle).  It is what the OBJECT(CeldasSensor)\r
 421         % objects on the CeldasVehicle detect.\r
 422         % <p>\r
 423         % There are no special behaviors associated with the walls--they're \r
 424         % basically just plain OBJECT(Stationary) objects.\r
 425    \r
 426         +variables:\r
 427             large (float).\r
 428             direction (vector). \r
 429 \r
 430 \r
 431         + to init with-size theSize = (10, 3, .1) (vector) with-color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 0, 0, 1 ), ( 0, 1, 0 ), ( 1, 0, 0 ) ] (matrix):                    \r
 432                 self init-with-shape shape (new Shape init-with-cube size theSize) color theColor at-location theLocation with-rotation theRotation.\r
 433                 large=20.\r
 434 \r
 435         + to init-with-shape shape theShape (object) color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 1, 0, 0 ), ( 0, 1, 0 ), ( 0, 0, 1 ) ] (matrix):\r
 436                 self register with-shape theShape at-location theLocation with-rotation theRotation.\r
 437                 self set-color to theColor.\r
 438                 \r
 439         + to get-large:\r
 440             return large.\r
 441 \r
 442         + to set-direction at theDirection (vector):\r
 443             direction=theDirection.\r
 444 \r
 445         + to get-direction:\r
 446             return direction.\r
 447 }\r
 448 \r
 449 Link : CeldasWheel (aka CeldasWheels) {\r
 450         % A CeldasWheel is used in conjunction with OBJECT(CeldasVehicle)\r
 451         % to build Celdas vehicles.  This class is typically not instantiated\r
 452         % manually, since OBJECT(CeldasVehicle) creates one for you when you\r
 453         % add a wheel to the vehicle.\r
 454 \r
 455         + variables:\r
 456                 joint (object).\r
 457                 velocity (float).\r
 458 \r
 459         + to init:\r
 460                 velocity = 0.\r
 461 \r
 462         - to set-joint to j (object):\r
 463                 % Used internally.\r
 464 \r
 465                 joint = j.\r
 466 \r
 467         + section "Configuring the Wheel's Velocity"\r
 468 \r
 469         + to set-velocity to n (float):\r
 470                 % Sets the velocity of this wheel.\r
 471 \r
 472                 if n > CELDAS_MAX_VELOCITY: n = CELDAS_MAX_VELOCITY.\r
 473                 velocity = n.\r
 474 \r
 475                 joint set-joint-velocity to velocity.\r
 476 \r
 477         + to get-velocity:\r
 478                 % Gets the velocity of this wheel.\r
 479                 \r
 480                 return velocity.\r
 481 \r
 482 }\r
 483 \r
 484 Link : CeldasSensor (aka CeldasSensors) {\r
 485         % A CeldasSensor is used in conjunction with OBJECT(CeldasVehicle)\r
 486         % to build Celdas vehicles.  This class is typically not instantiated\r
 487         % manually, since OBJECT(CeldasVehicle) creates one for you when you\r
 488         % add a sensor to the vehicle.\r
 489 \r
 490         + variables:\r
 491                 direction (vector).\r
 492                 positiveDirection(vector).\r
 493                 sensorAngle (float).\r
 494                 value (float).\r
 495                 draw (object).\r
 496                 body(object).\r
 497                 id(int).\r
 498 \r
 499         + to init :\r
 500                 direction = (1,0,1).\r
 501                 positiveDirection= (1,0,1).\r
 502                 sensorAngle = 1.6.\r
 503                 value = 0.0.\r
 504                 draw = new Drawing.\r
 505                                 \r
 506 \r
 507   + section "Configuring the Sensor Values"\r
 508         + to set-id at n (int):\r
 509             id=n.\r
 510 \r
 511         + to set-body at robotBody(object):\r
 512                 body=robotBody.\r
 513                 \r
 514         + to set-sensor-angle to n (float):\r
 515                 % Sets the angle in which this sensor can detect obstacles.  The default\r
 516                 % value of 1.6 means that the sensor can see most of everything in\r
 517                 % front of it.  Setting the value to be any higher leads to general\r
 518                 % wackiness, so I don't suggest it.\r
 519 \r
 520                 sensorAngle = n.\r
 521 \r
 522         + to set-direction to n (vector):\r
 523                 direction = n.\r
 524                 positiveDirection::x=|n::x|.\r
 525                 positiveDirection::y=|n::y|.\r
 526                 positiveDirection::z=|n::z|.\r
 527 \r
 528   + section "Getting the Sensor Values"\r
 529 \r
 530         + to get-sensor-value:\r
 531                 % Gets the sensor value. This should be used from post-iterate,\r
 532                 % if not, the sensor reading correspond to the previous\r
 533                 % iteration.\r
 534                 val (float).\r
 535 \r
 536                 val = self get-data.\r
 537                 if (val > CELDAS_SENSOR_THRESHOLD): return 0.\r
 538                 else           return 1.\r
 539         \r
 540         #+ to iterate:\r
 541         \r
 542         + to get-data:\r
 543                 i (object).\r
 544                 min,dist (float).\r
 545                 v,obs(vector).\r
 546                 j (int).\r
 547                 des2,des3(int).\r
 548                 wallBegin,wallEnd,wallCenter (float).\r
 549                 obsLoc (vector).                \r
 550                 posObstacle,destiny,yo(vector).\r
 551                                              \r
 552                 draw clear.\r
 553                 value = 0.0.\r
 554                 j=0.\r
 555                 min=0.\r
 556                 foreach i in (all CeldasObstacles): \r
 557                         {\r
 558                          posObstacle=i get-location.\r
 559                          v = (body get-location) - (self get-location ).\r
 560                          obsLoc::y=posObstacle::y.\r
 561                          \r
 562                          if (dot((i get-direction),(1,0,0))):\r
 563                           {\r
 564                            obsLoc::x=((self get-location)::x + ((posObstacle::z - (self get-location)::z)*v::x/v::z)).\r
 565                            obsLoc::z=posObstacle::z.\r
 566                           }                             \r
 567                           else\r
 568                           {\r
 569                            obsLoc::z=((self get-location)::z + ((posObstacle::x - (self get-location)::x)*v::z/v::x)).\r
 570                            obsLoc::x=posObstacle::x.\r
 571                           } \r
 572                                                                 \r
 573                         #!\r
 574                         if(dot((i get-direction),direction)==0):\r
 575                                 des1=1.\r
 576                         else\r
 577                                 des1=0.\r
 578                         !#\r
 579 \r
 580                         des2=0.\r
 581                         if(dot(direction,(1,1,1))<0):\r
 582                         {                        \r
 583                             if((dot((self get-location),positiveDirection))>(dot(obsLoc,positiveDirection))):\r
 584                                         des2=1.      \r
 585                         }\r
 586                         else\r
 587                         {\r
 588                             if((dot((self get-location),positiveDirection))<(dot(obsLoc,positiveDirection))):\r
 589                                         des2=1.         \r
 590                         }                       \r
 591 \r
 592 \r
 593                         #Compruebo que el robot este frente a la pared\r
 594                         wallCenter=dot((i get-location),(i get-direction)).\r
 595                         wallBegin=wallCenter- (i get-large)/2.\r
 596                         wallEnd=wallCenter + (i get-large)/2.           \r
 597 \r
 598                         \r
 599                         yo=self get-location.\r
 600                         destiny=i get-direction.\r
 601 \r
 602                                                                                                                 \r
 603 \r
 604                         if (dot((self get-location),(i get-direction)) > wallBegin) && (dot((self get-location),(i get-direction)) < wallEnd):\r
 605                                 des3=1.\r
 606                         else\r
 607                         {\r
 608                                  des3=0.\r
 609                                  \r
 610                         }                               \r
 611                        \r
 612                         if ((des2) && (des3)):\r
 613                          {                                    \r
 614                                 draw clear.\r
 615 \r
 616                                 dist=|obsLoc - (self get-location)|.\r
 617                                 if( (j==0) || (min>dist) ):\r
 618                                  {\r
 619                                         min=dist.\r
 620                                         obs=obsLoc.\r
 621                                         j++.\r
 622                                         #print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ".        \r
 623                                  }\r
 624 \r
 625                          }                                              \r
 626 \r
 627                         \r
 628                 } #end for\r
 629 \r
 630                 if(j!=0):\r
 631                         {\r
 632                           #Dibujo el laser\r
 633                           draw set-color to (1, 0, 0).\r
 634                           draw draw-line from (self get-location) to (obs).\r
 635                           return min.\r
 636                         }\r
 637                 \r
 638 \r
 639                 value = -1.\r
 640                 return value.\r
 641 \r
 642 \r
 643 }\r
 644                 \r