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@justcoding121 justcoding121/gist:3943762
Last active Oct 12, 2015

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/**
*
*
* 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();
}
}
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