20 lines
467 B
Lua
20 lines
467 B
Lua
-- Testbot, with turn penalty
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-- Used for testing turn penalties
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require 'testbot'
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properties.left_hand_driving = false
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local turn_penalty = 500
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local turn_bias = properties.left_hand_driving and 1/1.2 or 1.2
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function turn_function (angle)
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---- compute turn penalty as angle^2, with a left/right bias
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k = turn_penalty/(90.0*90.0)
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if angle>=0 then
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return angle*angle*k/turn_bias
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else
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return angle*angle*k*turn_bias
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end
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end
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