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