As am I getting back into the swing of writing code in java once again, I am expanding my coding skills by adding bounding boxes around all of the possible lights in each room.
At first, we wanted to create bounding polytopes again. The problem we found with using the BoundingPolytope function in java is that all the regions of the polytope have to be convex. This would have worked for some of the rooms, but then some of the regions would have not been convex if we included all possible areas outside of the room where our robot could potentially notice light coming from.
Once understanding a BoundingPolytope would not work, we then decided to just create a bounding box around the rooms themselves. This was decided because Kathryn pointed out with all the overhead lights in the arena, it would be almost impossible for the sensors we are using on the robot to detect light anywhere outside of the room.
With that said, I hard coded a file with all the possible light locations: two in each room; which did include all possibilities for the lights when one of the four rooms was flipped. These next two links will give you a visual on the flipped rooms:
After hardcoding the lights, I was able to create a general code which opened the file and read the lines. The code broke up the numbers in the line in order to read the vector which contained the light location. Also, it retrieved the location of the smaller and larger bounding boxes which are needed for the code. Taking these three pieces, the bounding boxes were created.