def get_ground_direction(self):
'''
In future classes, this function can be altered to return a preferred
direction, but currently it only returns a random feasable direction if no
direction is assigned for the robot (self.ground_direction)
'''
def random_direction():
'''
Returns a random, new location (direction)
'''
# obtain a random direction
direction = (random.uniform(-1 * self.step, self.step), random.uniform(
-1 * self.step, self.step), 0)
# The they can't all be zero!
if helpers.compare(helpers.length(direction),0):
return random_direction()
else:
step = helpers.scale(self.step,helpers.make_unit(direction))
predicted_location = helpers.sum_vectors(step, self.location)
# Check the location
if helpers.check_location(predicted_location):
return direction
else:
return random_direction()
# If we have a currently set direction, check to see if we will go out of
# bounds.
if self.ground_direction != None:
step = helpers.scale(self.step,helpers.make_unit(self.ground_direction))
predicted_location = helpers.sum_vectors(step, self.location)
# We are going out of bounds, so set the direction to none and call
# yourself again (to find a new location)
if not helpers.check_location(predicted_location):
self.ground_direction = None
return self.get_ground_direction()
# Here, we return the right direction
else:
assert self.ground_direction != None
return self.ground_direction
# We don't have a direction, so pick a random one (it is checked when we
# pick it)
else:
self.ground_direction = random_direction()
return self.ground_direction
def random_direction():
'''
Returns a random, new location (direction)
'''
# obtain a random direction
direction = (random.uniform(-1 * self.step, self.step), random.uniform(
-1 * self.step, self.step), 0)
# The they can't all be zero!
if helpers.compare(helpers.length(direction),0):
return random_direction()
else:
step = helpers.scale(self.step,helpers.make_unit(direction))
predicted_location = helpers.sum_vectors(step, self.location)
# Check the location
if helpers.check_location(predicted_location):
return direction
else:
return random_direction()
