def __init__(self, config):
self.intelligence = Intelligence(self, config)
self.x = 10
self.y = 10
self.newX = self.x
self.newY = self.y
self.dirAngle = pi / 4
## Current text describing state of ProcessArea, used to show best info about its state in GUI.
self.paText = ' '
## Fields of view for normal atomic action
self.viewConesNormal = []
self.viewConesNormal.append(ViewCone(0.1, pi * 0.9, 5))
self.viewConesNormal.append(ViewCone(0.3, pi / 2, 20))
self.viewConesNormal.append(ViewCone(0.3, pi / 4, 30))
self.viewConesNormal.append(ViewCone(0.3, pi / 8, 50))
## Fields of view for Explore atomic action
self.viewConesForExplore = []
self.viewConesForExplore.append(ViewCone(0.4, pi, 10))
self.viewConesForExplore.append(ViewCone(0.4, pi, 20))
self.viewConesForExplore.append(ViewCone(0.4, pi, 30))
self.viewCones = self.viewConesNormal
self.viewConeNormalMaxDist = 0
for vc in self.viewConesNormal:
self.viewConeNormalMaxDist = max(self.viewConeNormalMaxDist,
vc.distance)
self.viewConeForExploreMaxDist = 0
for vc in self.viewConesForExplore:
self.viewConeForExploreMaxDist = max(
self.viewConeForExploreMaxDist, vc.distance)
self.viewConeMaxDist = self.viewConeNormalMaxDist
