def lookAtGameBoard(self, dist):
"""
:param dist: the supposed distance between NAO and the board
Make NAO look to the hypothetical game board position, located at "dist" meters from the robot
"""
self.crouch()
height = 0.165
b = height
c = geom.pythagore(height, dist) # The length of the side betwaeen NAO's head and the board to look at
a = dist # The difference between the theoretical position (1m) and the actual position (dist)
pitch_angle = geom.al_kashi(b, a, c, None)
self.moveHead(pitch_angle, 0, radians=True)
def computeMaxRadiusRatio(self, distance):
"""
Computes the max ratio between the radius of the circle that is the farthest from the robot
and the radius of the circle that is the closest from the robot.
:param distance: The distance between the robot and the farthest circle in the Connect 4 grid in cm
:return: The max radius ratio
"""
max_angle = np.pi / 2.
ab = distance # The length of the vector between the robot and the
# farthest point of the farthest vector
bc = self.model.circle_diameter # The length of the vector of a circle
ac = geom.al_kashi(b=ab, c=bc, angle=max_angle) # The length of the vector between the robot and the closest
# point of the farthest vector
beta = geom.al_kashi(a=bc, b=ab, c=ac) # Angle of vision of the robot to the farthest vector
de = bc # de and bc are the same vectors
bd = self.model.length - de # bd is the length of the game board minus one vector
ad = geom.al_kashi(b=ab, c=bd, angle=max_angle) # The length of the vector between the robot and the farthest
# point of the closest vector
be = self.model.length # The length of the game board
ae = geom.al_kashi(b=ab, c=be, angle=max_angle) # The length of the vector between the robot and the
# closest point of the closest vector
alpha = geom.al_kashi(a=de, b=ad, c=ae) # Angle of vision of the robot to the closest vector
return alpha / beta