gistfile1.txt

/**
 *
 * 
 * Tested in NetBeans IDE 6.5.1 with JDK 1.6.0_17
 * Generates the configuration space image and saves in png format.
 * Generates the configuration space matrix and saves in txt format
 * Please replace FNAME_input and FNAME_output variables as per preffered location of input and output files.
 */
import java.io.*;
import java.util.*;
import java.awt.geom.*;
import java.awt.*;
import java.awt.image.*;



public class configuration_space  {

    final static String FNAME_input = "1.txt";
    final static String FNAME_output = "output";   //please don't add .txt extension
    public Scanner in;
    public PrintWriter out;
    void open() throws IOException {
		in = new Scanner( new File( FNAME_input) ) ;
		out = new PrintWriter( new File( FNAME_output + ".txt" ) );
	}
    void close() throws IOException {
		out.close();

	}

    boolean[][] execute() throws IOException {
    //intializing variables and reading data
    int no_of_obstacles = in.nextInt();
    int no_of_vertices=in.nextInt();
    Point2D.Double[] vertices = new Point2D.Double[no_of_vertices];
    String obstacle_index_list=new String();
    obstacle_index_list=" ";
    int[] size_of_obstacle= new int[no_of_obstacles];
    Point2D.Double base= new Point2D.Double();
    Point2D.Double end1= new Point2D.Double();
    Point2D.Double end2= new Point2D.Double();
    Line2D.Double arm1= new Line2D.Double();
    Line2D.Double arm2= new Line2D.Double();
    boolean[][] result_matrix=new boolean[361][361];
    for(int i=0;i<no_of_vertices;i++)
    {

       vertices[i]= new Point2D.Double(in.nextDouble(),in.nextDouble());
    }
   in.nextLine();
    for(int j=0;j<no_of_obstacles;j++)
    {
        String temp=in.nextLine().trim();
        size_of_obstacle[j]=temp.split(" ").length;
        obstacle_index_list=obstacle_index_list+" "+temp;
    }

    obstacle_index_list=obstacle_index_list.trim();
    base.setLocation(in.nextDouble(), in.nextDouble());
    double arm1_length=in.nextDouble();
    double arm2_length=in.nextDouble();
   //end of reading data from input file

   //Initializing result matrix to zero
    for(int n=0;n<361;n++)
        for(int o=0;o<361;o++)
            result_matrix[n][o] = false;
   //Starting to draw obstacle lines and computing intersections
    int p=0,q=0;

    for(double theta1=0;theta1<=2*Math.PI;theta1=theta1+Math.PI/180)
    {
        q=0;
        for(double theta2=0;theta2<=2*Math.PI;theta2=theta2+Math.PI/180)
        {
            boolean ans=false;
            end1.setLocation(base.x+arm1_length*Math.cos(theta1), base.y+arm1_length*Math.sin(theta1));
            end2.setLocation(end1.x+arm2_length*Math.cos(theta2), end1.y+arm2_length*Math.sin(theta2));
            arm1.setLine(base, end1);
            arm2.setLine(end1,end2);
            String[] obstacle_index= obstacle_index_list.split(" ");
            int offset=0;
            for(int k=0;k<no_of_obstacles;k++)
            {
                for(int l=offset;l<size_of_obstacle[k]+offset;l++)
                    for(int m=l+1;m<size_of_obstacle[k]+offset;m++)
                    {
                        Line2D.Double current_line=new Line2D.Double(vertices[Integer.parseInt(obstacle_index[l])-1],vertices[Integer.parseInt(obstacle_index[m])-1]);
                        if(current_line.intersectsLine(arm1)||current_line.intersectsLine(arm2))
                        {
                            ans=ans||true;
                        }
                    }

                   offset=offset+size_of_obstacle[k];
            }
            if(ans)
                result_matrix[p][q]=true;
            q++;
        }p++;
    }
    return result_matrix;
    }
//write the result
void write(boolean result[][]) throws IOException {

    int width = 361;
    int height = 361;

    int[] pixels = new int [width*height];

            for (int j = 0; j < height; j++) {
                for (int i = 0; i < width; i++) {
                    if (result[i][j] == true) {
                        pixels[j*width + i] = Color.RED.getRGB();

                    }
                    else {
                        pixels[j*width + i] = Color.WHITE.getRGB();

                    }
                }
            }
BufferedImage pixelImage = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB);
    pixelImage.setRGB(0, 0, width, height, pixels, 0, width);
           try {
            File outputfile = new File(FNAME_output+".png");
            javax.imageio.ImageIO.write(pixelImage, "png", outputfile);
            }catch(IOException e){}
     for(int x=0;x<361;x++)
     {
        for( int y=0;y<361;y++)
        {
         if(result[x][y]==true)
         out.print("1 ");
         else out.print("0 ");
        }
    out.println();
     }
out.close();
}


    public static void main( String[] args ) throws IOException {
		new Thread() {

            @Override
			public void run() {
				try {

					configuration_space solution = new configuration_space();

					solution.open();
                    solution.write(solution.execute());
					solution.close();



				} catch ( Exception e ) {
					throw new RuntimeException( e );
				}
			}
		}.start();
	}
}