?? initialize.java
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/*********************************************************************//* File: ~/sopra/RoboPackII/Initialize.java *//* The purpose of this file is to initialize all needed values, par- *//* ticularly the robot specifying instances. *//*********************************************************************/package RoboPackII;final class RobotInit{ /* This class defines all robot specific variables with use- */ /* ful values. */ public static void now(RoboProto rob) { // First: new objects are builded Points light = new Points(-800.0, 1500.0, 1000.0); double[] linkLengths = { 13.5, 10.0, 10.0, 2.5 }; int[] angleWeights = { 0, 30, 20, 10, 10, 10 }; int[] power = { 3, 3, 3, 3, 3, 3 }; AngleDates[] angles = { new AngleDates(Math.PI, -Math.PI, 0.0), new AngleDates(0.523598775,-3.665191429, 0.0), new AngleDates(0.523598775,-3.665191429, 0.0), new AngleDates(Math.PI, -Math.PI, 0.0), new AngleDates(Math.PI/2, -Math.PI/2, 0.0), new AngleDates(Math.PI/2, -Math.PI/2, 0.0)}; Points[] line = { new Points(0.0, 2.0, 0.0), new Points(0.0, 0.0, 0.0) } ; Edges gkl = new Edges((short)0, (short)1); int[] rpl = { 64, 65, 94, 5, 114, 115, 138, 139, 140, 141, 146, 147, 152, 153 }; Points[] coorpl = { new Points(0, 0, 0), new Points(10, 0, 0), new Points(0, 10, 0),new Points(0, 0, 10) }; Edges[] coorc = { new Edges((short)0, (short)1), new Edges((short)0, (short)2), new Edges((short)0, (short)3) }; // Second: the robot gets new references to these objects rob.light = light; rob.linkLengths = linkLengths; rob.angleWeights = angleWeights; rob.power = power; rob.angles = angles; rob.line = line; rob.gkl = gkl; rob.rpl = rpl; rob.coorpl = coorpl; rob.coorc = coorc; // Instanciation without values: int i; for (i = 0; i < rob.numberOfAreas; i++) rob.apl[i] = new AreasPointsList(); for (i = 0; i < rob.numberOfPoints; i++) rob.pl[i] = new Points(); for (i = 0; i < 361; i++) rob.BListe[i] = new Points(); for (i = 0; i < 4; i++) { for (int j = 0; j < 6; j++) rob.savedAngles[i][j] = 0; rob.savedAngles[i][6] = 0.0; // a totally open hand } // Instanciation with many values: Points[] helpPL = { new Points(-25.0 , 0.0 ,-25.0), // Area 0 new Points( -8.3 , 0.0 ,-25.0), new Points( 8.3 , 0.0 ,-25.0), new Points( 25.0 , 0.0 ,-25.0), new Points(-25.0 , 0.0 , -8.3), new Points( 25.0 , 0.0 , -8.3), new Points(-25.0 , 0.0 , 8.3), new Points( 25.0 , 0.0 , 8.3), new Points(-25.0 , 0.0 , 25.0), new Points( -8.3 , 0.0 , 25.0), new Points( 8.3 , 0.0 , 25.0), /* 10 */ new Points( 25.0 , 0.0 , 25.0), new Points( 0.0 , 0.0 , -5.0), // Base new Points( 3.53 , 0.0 ,-3.53), new Points( 5.0 , 0.0 , 0.0), new Points( 3.53 , 0.0 , 3.53), new Points( 0.0 , 0.0 , 5.0), new Points(-3.53 , 0.0 , 3.53), new Points( -5.0 , 0.0 , 0.0), new Points(-3.53 , 0.0 ,-3.53), new Points( 0.0 , 3.0 , -5.0), /* 20 */ new Points( 3.53 , 3.0 ,-3.53), new Points( 5.0 , 3.0 , 0.0), new Points( 3.53 , 3.0 , 3.53), new Points( 0.0 , 3.0 , 5.0), new Points(-3.53 , 3.0 , 3.53), new Points( -5.0 , 3.0 , 0.0), new Points(-3.53 , 3.0 ,-3.53), new Points( 0.0 , 3.0 , -1.5), //Turnarea new Points( 1.06 , 3.0 ,-1.06), new Points( 1.5 , 3.0 , 0.0), /* 30 */ new Points( 1.06 , 3.0 , 1.06), new Points( 0.0 , 3.0 , 1.5), new Points(-1.06 , 3.0 , 1.06), new Points( -1.5 , 3.0 , 0.0), new Points(-1.06 , 3.0 ,-1.06), new Points( 0.0 , 3.5 , -1.5), new Points( 1.06 , 3.5 ,-1.06), new Points( 1.5 , 3.5 , 0.0), new Points( 1.06 , 3.5 , 1.06), new Points( 0.0 , 3.5 , 1.5), /* 40 */ new Points(-1.06 , 3.5 , 1.06), new Points( -1.5 , 3.5 , 0.0), new Points(-1.06 , 3.5 ,-1.06), new Points( -1.0 , 3.5 , 1.0), // Link 1 new Points( -1.0 , 3.5 , -1.0), new Points( 1.0 , 3.5 , -1.0), new Points( 1.0 , 3.5 , 1.0), new Points( -1.0 , 12.5 , 1.0), new Points( -1.0 , 12.5 , -1.0), new Points( 1.0 , 12.5 , -1.0), /* 50 */ new Points( 1.0 , 12.5 , 1.0), new Points( 1.0 , 12.5 , 0.5), new Points( -1.0 , 12.5 , 0.5), new Points( -0.5 , 14.0 , 1.0), new Points( 0.5 , 14.0 , 1.0), new Points( 0.5 , 14.0 , 0.5), new Points( -0.5 , 14.0 , 0.5), new Points( 1.0 , 12.5 , -0.5), new Points( -1.0 , 12.5 , -0.5), new Points( -0.5 , 14.0 , -0.5), /* 60 */ new Points( 0.5 , 14.0 , -0.5), new Points( 0.5 , 14.0 , -1.0), new Points( -0.5 , 14.0 , -1.0), new Points( 0.0 , 13.5 , 0.5), // Axis 2 new Points( 0.0 , 13.5 , -0.5), new Points( -0.3 , 13.0 , 0.5), // Link 2 new Points( 1.5 , 13.0 , 0.5), new Points( 1.5 , 13.0 , -0.5), new Points( -0.3 , 13.0 , -0.5), new Points( -0.3 , 14.0 , 0.5), /* 70 */ new Points( 1.5 , 14.0 , 0.5), new Points( 1.5 , 14.0 , -0.5), new Points( -0.3 , 14.0 , -0.5), new Points( 1.5 , 12.5 , 1.0), new Points( 1.5 , 14.5 , 1.0), new Points( 1.5 , 14.5 , -1.0), new Points( 1.5 , 12.5 , -1.0), new Points( 9.0 , 12.5 , 1.0), new Points( 9.0 , 14.5 , 1.0), new Points( 9.0 , 14.5 , -1.0), /* 80 */ new Points( 9.0 , 12.5 , -1.0), new Points( 9.0 , 12.5 , 0.5), new Points( 9.0 , 14.5 , 0.5), new Points( 10.5 , 14.0 , 1.0), new Points( 10.5 , 14.0 , 0.5), new Points( 10.5 , 13.0 , 0.5), new Points( 10.5 , 13.0 , 1.0), new Points( 9.0 , 12.5 , -0.5), new Points( 9.0 , 14.5 , -0.5), new Points( 10.5 , 14.0 , -1.0), /* 90 */ new Points( 10.5 , 13.0 , -1.0), new Points( 10.5 , 13.0 , -0.5), new Points( 10.5 , 14.0 , -0.5), new Points( 10.0 , 13.5 , 0.5), // Axis 3 new Points( 10.0 , 13.5 , -0.5), new Points( 9.5 , 13.8 , 0.5), // Link 3 new Points( 9.5 , 13.8 , -0.5), new Points( 10.5 , 13.8 , -0.5), new Points( 10.5 , 13.8 , 0.5), new Points( 10.5 , 11.9 , -0.5), /* 100 */ new Points( 10.5 , 11.9 , 0.5), new Points( 9.5 , 11.9 , 0.5), new Points( 9.5 , 11.9 , -0.5), new Points( 9.0 , 12.0 , 1.0), new Points( 9.0 , 12.0 , -1.0), new Points( 11.0 , 12.0 , -1.0), new Points( 11.0 , 12.0 , 1.0), new Points( 11.0 , 4.5 , -1.0), new Points( 11.0 , 4.5 , 1.0), new Points( 9.0 , 4.5 , 1.0), /* 110 */ new Points( 9.0 , 4.5 , -1.0), new Points( 10.0 , 5.0 , 0.0), // Axis 4 new Points( 10.0 , 4.0 , 0.0), new Points( 10.0 , 3.5 , 0.5), // Axis 5 new Points( 10.0 , 3.5 , -0.5), new Points( 10.0 , 4.5 , 1.0), //link 5 new Points( 10.7 , 4.2 , 1.0), new Points( 11.0 , 3.5 , 1.0), new Points( 10.7 , 2.8 , 1.0), new Points( 10.0 , 2.5 , 1.0), /* 120 */ new Points( 9.3 , 2.8 , 1.0), new Points( 9.0 , 3.5 , 1.0), new Points( 9.3 , 4.2 , 1.0), new Points( 10.0 , 4.5 , -1.0), new Points( 10.7 , 4.2 , -1.0), new Points( 11.0 , 3.5 , -1.0), new Points( 10.7 , 2.8 , -1.0), new Points( 10.0 , 2.5 , -1.0), new Points( 9.3 , 2.8 , -1.0), new Points( 9.0 , 3.5 , -1.0), /* 130 */ new Points( 9.3 , 4.2 , -1.0), new Points( 10.0 , 3.0 , 0.0), //Axis 6 new Points( 10.0 , 2.0 , 0.0), new Points( 9.0 , 2.5 , 1.0), // Hand */ new Points( 9.0 , 2.5 , -1.0), new Points( 11.0 , 2.5 , -1.0), new Points( 11.0 , 2.5 , 1.0), new Points( 11.0 , 2.0 , 1.0), new Points( 9.0 , 2.0 , 1.0), new Points( 9.0 , 2.0 , -1.0), /* 140 */ new Points( 11.0 , 2.0 , -1.0), new Points( 9.0 , 2.0 , 1.0), new Points( 9.0 , 2.0 , -1.0), new Points( 9.5 , 2.0 , -1.0), new Points( 9.5 , 2.0 , 1.0), new Points( 9.5 , 0.5 , 1.0), new Points( 9.5 , 0.5 , -1.0), new Points( 11.0 , 2.0 , -1.0), new Points( 11.0 , 2.0 , 1.0), new Points( 10.5 , 2.0 , 1.0), /* 150 */ new Points( 10.5 , 2.0 , -1.0), new Points( 10.5 , 0.5 , -1.0), new Points( 10.5 , 0.5 , 1.0)}; // 153 rob.PL = helpPL; Edges[] helpel = { new Edges(0, 3), new Edges( 0, 8), new Edges( 8,11), new Edges(11, 3), new Edges( 1, 9), new Edges( 2,10), new Edges( 4, 5), new Edges( 6, 7), new Edges(12,13), /* Base */ new Edges(13,14), new Edges(14,15), /*10*/ new Edges(15,16), new Edges(16,17), new Edges(17,18), new Edges(18,19), new Edges(19,12), new Edges(20,21), new Edges(21,22), new Edges(22,23), new Edges(23,24), new Edges(24,25), /*20*/ new Edges(25,26), new Edges(26,27), new Edges(27,20), new Edges(12,20), new Edges(13,21), new Edges(14,22), new Edges(15,23), new Edges(16,24), new Edges(17,25), new Edges(18,26), /*30*/ new Edges(19,27), new Edges(28,29), /* turn area */ new Edges(29,30), new Edges(30,31), new Edges(31,32), new Edges(32,33), new Edges(33,34), new Edges(34,35), new Edges(35,28), new Edges(36,37), /*40*/ new Edges(37,38), new Edges(38,39), new Edges(39,40), new Edges(40,41), new Edges(41,42), new Edges(42,43), new Edges(43,36),?? 快捷鍵說明
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