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silver.cpp
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silver.cpp
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#include <iostream>
#include <list>
#include <string>
#include <vector>
#include <algorithm>
#include <cmath>
#define PI 3.14159265
using namespace std;
class PidController
{
public:
PidController(double kP, double kI, double kD) :
_kProportional(kP),
_kIntegral(kI),
_kDerivative(kD)
{};
int getThurst(int distance, int angle);
void reset();
private:
// control constants (ignoring _dt as queals to 1)
double _kProportional = 0;
double _kIntegral = 0;
double _kDerivative = 0;
int _pre_angle = 0; // previous registered angle
double _pre_error = 0; // previous registered error
double _integralSum = 0; // accumulate sum of errors
};
void PidController::reset()
{
_integralSum = 0;
// These two might not need to be reset, to be tested
_pre_angle = 0;
_pre_error = 0;
}
int PidController::getThurst(int distance, int angle)
{
// angular change (used to assess how sharp is the current sterrting)
const int angleDiff = abs(angle - _pre_angle);
// error used is just the normalized distance
const double error = distance / 100;
cerr << "error: " << error << endl;
// P = how far is the vehicle
const double proportional = _kProportional * error;
// I = increasies the longer the vehicle is far from the set point
_integralSum += error;
const double integral = _kIntegral *_integralSum;
// D = current speed
const double derivative = _kDerivative * (error - _pre_error);
int output = proportional + derivative;
// OPTIMIZATION ATTEMPT TO BE IMPROVED
// only use the integral part if the direction is under a given angle
// used to avoid some circular moves in case of collisions
if(abs(angle) < 45)
output += integral;
// If the vehichle is not doing big curves (angelDiff)
// And has to a closer direction to the target (angle)
// Go full speed
if(abs(angleDiff) < 2 || abs(angle) <= 15)
{
output = 100;
}
cerr << "output: " << output << endl;
// Normaliza the thurst
if(output > 100)
output = 100;
else if( output < 0)
output = 0;
// update previou error and angle
_pre_error = error;
_pre_angle = angle;
return output;
}
class Vec2D{
public:
Vec2D(double x0, double y0) : x(x0), y(y0) {}
double getX() const {return x;}
double getY() const {return y;}
bool operator==(const Vec2D & v2) const{
return(v2.getX() == x && v2.getY() == y);
}
bool operator!=(const Vec2D & v2) const{
return (v2.getX() != x || v2.getY() != y);
}
double magnitude(){
return sqrt(x*x + y*y);
}
void normalize()
{
if(magnitude()!=0)
{
x /= magnitude();
y /= magnitude();
}
}
friend std::ostream & operator<<(ostream& os, const Vec2D & v);
private:
double x, y;
};
std::ostream & operator<<(ostream& os, const Vec2D & v){
os<< "Vec2D: x -> " << v.getX() <<" y-> " << v.getY() << endl;
return os;
};
class CheckPointManager{
public:
bool addCheckpoint(Vec2D p){
if(prevCheckpoint != p)
{
bool found =( std::find(checkpoints.begin(), checkpoints.end(), p) != checkpoints.end());
if(!found){
checkpoints.push_back(p);
}
allCheckpointsSaved = found ;
prevCheckpoint =p;
return !found;
}
return false;
}
Vec2D getNextCheckpoint(Vec2D p )
{
std::list<Vec2D>::iterator it;
for (it=checkpoints.begin(); it != checkpoints.end(); ++it)
{
if (*it == p) break;
}
return (++it != checkpoints.end()) ? *it : checkpoints.front();
}
std::list<Vec2D> getCheckpoints() const {
return checkpoints;
}
bool isFirstLapFinished() {return allCheckpointsSaved;};
friend std::ostream & operator<<(ostream& os, const CheckPointManager & pt);
private:
std::list<Vec2D> checkpoints;
bool allCheckpointsSaved = false;
Vec2D prevCheckpoint{0,0};
};
std::ostream & operator<<(ostream& os, const CheckPointManager & pt){
for (std::list<Vec2D>::iterator it=pt.getCheckpoints().begin(); it != pt.getCheckpoints().end(); ++it)
os<< pt;
return os;
}
int main()
{
const int angleForMaxThrust = 90;
const int distForTheBoost = 5000;
const int distMinToCheckpoint = 1500;
const int maxThrust = 100;
const int minThrust = 10;
int thrust = maxThrust;
bool boost = false;
CheckPointManager checkManager;
Vec2D direction{0,0};
Vec2D prev_dir{0,0};
PidController control(2, 0.5, 0.2);
// game loop
while (1) {
int x;
int y;
int nextCheckpointX; // x position of the next check point
int nextCheckpointY; // y position of the next check point
int nextCheckpointDist; // distance to the next checkpoint
int nextCheckpointAngle; // angle between your pod orientation and the direction of the next checkpoint
cin >> x >> y >> nextCheckpointX >> nextCheckpointY >> nextCheckpointDist >> nextCheckpointAngle; cin.ignore();
int opponentX;
int opponentY;
cin >> opponentX >> opponentY; cin.ignore();
direction = Vec2D(nextCheckpointX,nextCheckpointY);
if(!checkManager.isFirstLapFinished())
{
checkManager.addCheckpoint(direction);
}
if(checkManager.isFirstLapFinished() && nextCheckpointDist < distMinToCheckpoint)
{
direction = checkManager.getNextCheckpoint(direction);
}
if(direction != prev_dir)
control.reset();
//calculating des vel
Vec2D des_vel{direction.getX() - x, direction.getY() - y};
des_vel.normalize();
//calculating current dir
float radian = (-nextCheckpointAngle) * PI / 180;
Vec2D vel{des_vel.getX() * cos(radian) - des_vel.getY() * sin(radian), des_vel.getY() * cos(radian) + des_vel.getX() * sin(radian)};
vel.normalize();
//steering dir
Vec2D sterring = {des_vel.getX() - vel.getX(),des_vel.getY() - vel.getY() };
sterring.normalize();
Vec2D finalDirection{direction.getX() + sterring.getX() * 100, direction.getY() + sterring.getY() * 100};
thrust = control.getThurst(nextCheckpointDist, nextCheckpointAngle);
cout << (int)finalDirection.getX() << " " << (int)finalDirection.getY() << " " << int(thrust) << endl;
}
}