import math
from random import random
from arc_tan import arc_tan as tan_inv

class ObserverClass:
	def __init__(self,position_x,position_y,speed,sensor_range):
		self.x=position_x
		self.y=position_y
		self.speed=speed
		self.limit=sensor_range
		self.obstacle=-1
		self.goAround=-1
		self.old_pos_x=0
		self.old_pos_y=0
		self.sleep=False
		self.angle=0

	def update_target(self,alpha,explore,x_limit,y_limit,mean_x,mean_y):
		if self.sleep:
			self.sleep=False
			return
		temp_x=self.x*(1-alpha)+alpha*explore*(self.x+(random()*(x_limit/2)-(x_limit/4)))+alpha*(1-explore)*mean_x
		temp_y=self.y*(1-alpha)+alpha*explore*(self.y+(random()*(y_limit/2)-(y_limit/4)))+alpha*(1-explore)*mean_y
		if(temp_x>x_limit or temp_x<-x_limit):
			while(not (temp_x>x_limit or temp_x<-x_limit)):
				temp_x=self.x+(random()*(x_limit/2)-(x_limit/4))
		if(temp_y>y_limit or temp_y<-y_limit):
			while(not (temp_y>y_limit or temp_y<-y_limit)):
				temp_y=self.y+(random()*(x_limit/2)-(x_limit/4))
		self.target_x=temp_x
		self.target_y=temp_y
		self.angle=tan_inv((temp_y-self.y),(temp_x-self.x))
		# print(self.angle)

	def update(self,x_limit,y_limit):
		if self.sleep:
			self.sleep=False
			return
		temp_x=self.x+self.speed*math.cos(self.angle)
		temp_y=self.y+self.speed*math.sin(self.angle)
		if(temp_x>x_limit):
			temp_x=x_limit
		if(temp_x<-x_limit):
			temp_x=-x_limit
		if(temp_y>y_limit):
			temp_y=y_limit
		if(temp_y<-y_limit):
			temp_y=-y_limit
		self.x=temp_x
		self.y=temp_y

	def enemy_in_range(self,enemy):
		if(math.sqrt(pow(enemy.x-self.x,2)+pow(enemy.y-self.y,2))<=self.limit):
			return True
		else:
			return False

	def obstacle_in_range(self,obstacle_part):
		if(math.sqrt(pow(obstacle_part.x-self.x,2)+pow(obstacle_part.y-self.y,2))<=self.limit):
			return True
		else:
			return False

	def update_goAround(obstacle):
		if(self.goAround==1):
			self.x+=sin(tan_inv(obstacle.y-self.y/obstacle.x-self.x))
			self.y+=cos(tan_inv(obstacle.y-self.y/obstacle.x-self.x))
			if((pow(abs(self.x-obstacle.x),2)+pow(abs(self.y-obstacle.y),2))>=100):
				self.goAround=2
			return
		if(self.goAround==2):
			self.x+=sin(tan_inv(self.target_y-self.y/self.target_x-self.x))
			self.y+=cos(tan_inv(self.target_y-self.y/self.target_x-self.x))

49c5e859b3f5e61e226ec1941fe7902b502507d2
<mask token>


class ObserverClass:
    <mask token>
    <mask token>
    <mask token>

    def enemy_in_range(self, enemy):
        if math.sqrt(pow(enemy.x - self.x, 2) + pow(enemy.y - self.y, 2)
            ) <= self.limit:
            return True
        else:
            return False

    def obstacle_in_range(self, obstacle_part):
        if math.sqrt(pow(obstacle_part.x - self.x, 2) + pow(obstacle_part.y -
            self.y, 2)) <= self.limit:
            return True
        else:
            return False

    def update_goAround(obstacle):
        if self.goAround == 1:
            self.x += sin(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            self.y += cos(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            if pow(abs(self.x - obstacle.x), 2) + pow(abs(self.y - obstacle
                .y), 2) >= 100:
                self.goAround = 2
            return
        if self.goAround == 2:
            self.x += sin(tan_inv(self.target_y - self.y / self.target_x -
                self.x))
            self.y += cos(tan_inv(self.target_y - self.y / self.target_x -
                self.x))

<mask token>


class ObserverClass:

    def __init__(self, position_x, position_y, speed, sensor_range):
        self.x = position_x
        self.y = position_y
        self.speed = speed
        self.limit = sensor_range
        self.obstacle = -1
        self.goAround = -1
        self.old_pos_x = 0
        self.old_pos_y = 0
        self.sleep = False
        self.angle = 0
    <mask token>

    def update(self, x_limit, y_limit):
        if self.sleep:
            self.sleep = False
            return
        temp_x = self.x + self.speed * math.cos(self.angle)
        temp_y = self.y + self.speed * math.sin(self.angle)
        if temp_x > x_limit:
            temp_x = x_limit
        if temp_x < -x_limit:
            temp_x = -x_limit
        if temp_y > y_limit:
            temp_y = y_limit
        if temp_y < -y_limit:
            temp_y = -y_limit
        self.x = temp_x
        self.y = temp_y

    def enemy_in_range(self, enemy):
        if math.sqrt(pow(enemy.x - self.x, 2) + pow(enemy.y - self.y, 2)
            ) <= self.limit:
            return True
        else:
            return False

    def obstacle_in_range(self, obstacle_part):
        if math.sqrt(pow(obstacle_part.x - self.x, 2) + pow(obstacle_part.y -
            self.y, 2)) <= self.limit:
            return True
        else:
            return False

    def update_goAround(obstacle):
        if self.goAround == 1:
            self.x += sin(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            self.y += cos(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            if pow(abs(self.x - obstacle.x), 2) + pow(abs(self.y - obstacle
                .y), 2) >= 100:
                self.goAround = 2
            return
        if self.goAround == 2:
            self.x += sin(tan_inv(self.target_y - self.y / self.target_x -
                self.x))
            self.y += cos(tan_inv(self.target_y - self.y / self.target_x -
                self.x))

<mask token>


class ObserverClass:

    def __init__(self, position_x, position_y, speed, sensor_range):
        self.x = position_x
        self.y = position_y
        self.speed = speed
        self.limit = sensor_range
        self.obstacle = -1
        self.goAround = -1
        self.old_pos_x = 0
        self.old_pos_y = 0
        self.sleep = False
        self.angle = 0

    def update_target(self, alpha, explore, x_limit, y_limit, mean_x, mean_y):
        if self.sleep:
            self.sleep = False
            return
        temp_x = self.x * (1 - alpha) + alpha * explore * (self.x + (random
            () * (x_limit / 2) - x_limit / 4)) + alpha * (1 - explore) * mean_x
        temp_y = self.y * (1 - alpha) + alpha * explore * (self.y + (random
            () * (y_limit / 2) - y_limit / 4)) + alpha * (1 - explore) * mean_y
        if temp_x > x_limit or temp_x < -x_limit:
            while not (temp_x > x_limit or temp_x < -x_limit):
                temp_x = self.x + (random() * (x_limit / 2) - x_limit / 4)
        if temp_y > y_limit or temp_y < -y_limit:
            while not (temp_y > y_limit or temp_y < -y_limit):
                temp_y = self.y + (random() * (x_limit / 2) - x_limit / 4)
        self.target_x = temp_x
        self.target_y = temp_y
        self.angle = tan_inv(temp_y - self.y, temp_x - self.x)

    def update(self, x_limit, y_limit):
        if self.sleep:
            self.sleep = False
            return
        temp_x = self.x + self.speed * math.cos(self.angle)
        temp_y = self.y + self.speed * math.sin(self.angle)
        if temp_x > x_limit:
            temp_x = x_limit
        if temp_x < -x_limit:
            temp_x = -x_limit
        if temp_y > y_limit:
            temp_y = y_limit
        if temp_y < -y_limit:
            temp_y = -y_limit
        self.x = temp_x
        self.y = temp_y

    def enemy_in_range(self, enemy):
        if math.sqrt(pow(enemy.x - self.x, 2) + pow(enemy.y - self.y, 2)
            ) <= self.limit:
            return True
        else:
            return False

    def obstacle_in_range(self, obstacle_part):
        if math.sqrt(pow(obstacle_part.x - self.x, 2) + pow(obstacle_part.y -
            self.y, 2)) <= self.limit:
            return True
        else:
            return False

    def update_goAround(obstacle):
        if self.goAround == 1:
            self.x += sin(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            self.y += cos(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            if pow(abs(self.x - obstacle.x), 2) + pow(abs(self.y - obstacle
                .y), 2) >= 100:
                self.goAround = 2
            return
        if self.goAround == 2:
            self.x += sin(tan_inv(self.target_y - self.y / self.target_x -
                self.x))
            self.y += cos(tan_inv(self.target_y - self.y / self.target_x -
                self.x))

import math
from random import random
from arc_tan import arc_tan as tan_inv


class ObserverClass:

    def __init__(self, position_x, position_y, speed, sensor_range):
        self.x = position_x
        self.y = position_y
        self.speed = speed
        self.limit = sensor_range
        self.obstacle = -1
        self.goAround = -1
        self.old_pos_x = 0
        self.old_pos_y = 0
        self.sleep = False
        self.angle = 0

    def update_target(self, alpha, explore, x_limit, y_limit, mean_x, mean_y):
        if self.sleep:
            self.sleep = False
            return
        temp_x = self.x * (1 - alpha) + alpha * explore * (self.x + (random
            () * (x_limit / 2) - x_limit / 4)) + alpha * (1 - explore) * mean_x
        temp_y = self.y * (1 - alpha) + alpha * explore * (self.y + (random
            () * (y_limit / 2) - y_limit / 4)) + alpha * (1 - explore) * mean_y
        if temp_x > x_limit or temp_x < -x_limit:
            while not (temp_x > x_limit or temp_x < -x_limit):
                temp_x = self.x + (random() * (x_limit / 2) - x_limit / 4)
        if temp_y > y_limit or temp_y < -y_limit:
            while not (temp_y > y_limit or temp_y < -y_limit):
                temp_y = self.y + (random() * (x_limit / 2) - x_limit / 4)
        self.target_x = temp_x
        self.target_y = temp_y
        self.angle = tan_inv(temp_y - self.y, temp_x - self.x)

    def update(self, x_limit, y_limit):
        if self.sleep:
            self.sleep = False
            return
        temp_x = self.x + self.speed * math.cos(self.angle)
        temp_y = self.y + self.speed * math.sin(self.angle)
        if temp_x > x_limit:
            temp_x = x_limit
        if temp_x < -x_limit:
            temp_x = -x_limit
        if temp_y > y_limit:
            temp_y = y_limit
        if temp_y < -y_limit:
            temp_y = -y_limit
        self.x = temp_x
        self.y = temp_y

    def enemy_in_range(self, enemy):
        if math.sqrt(pow(enemy.x - self.x, 2) + pow(enemy.y - self.y, 2)
            ) <= self.limit:
            return True
        else:
            return False

    def obstacle_in_range(self, obstacle_part):
        if math.sqrt(pow(obstacle_part.x - self.x, 2) + pow(obstacle_part.y -
            self.y, 2)) <= self.limit:
            return True
        else:
            return False

    def update_goAround(obstacle):
        if self.goAround == 1:
            self.x += sin(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            self.y += cos(tan_inv(obstacle.y - self.y / obstacle.x - self.x))
            if pow(abs(self.x - obstacle.x), 2) + pow(abs(self.y - obstacle
                .y), 2) >= 100:
                self.goAround = 2
            return
        if self.goAround == 2:
            self.x += sin(tan_inv(self.target_y - self.y / self.target_x -
                self.x))
            self.y += cos(tan_inv(self.target_y - self.y / self.target_x -
                self.x))

import math
from random import random
from arc_tan import arc_tan as tan_inv

class ObserverClass:
	def __init__(self,position_x,position_y,speed,sensor_range):
		self.x=position_x
		self.y=position_y
		self.speed=speed
		self.limit=sensor_range
		self.obstacle=-1
		self.goAround=-1
		self.old_pos_x=0
		self.old_pos_y=0
		self.sleep=False
		self.angle=0

	def update_target(self,alpha,explore,x_limit,y_limit,mean_x,mean_y):
		if self.sleep:
			self.sleep=False
			return
		temp_x=self.x*(1-alpha)+alpha*explore*(self.x+(random()*(x_limit/2)-(x_limit/4)))+alpha*(1-explore)*mean_x
		temp_y=self.y*(1-alpha)+alpha*explore*(self.y+(random()*(y_limit/2)-(y_limit/4)))+alpha*(1-explore)*mean_y
		if(temp_x>x_limit or temp_x<-x_limit):
			while(not (temp_x>x_limit or temp_x<-x_limit)):
				temp_x=self.x+(random()*(x_limit/2)-(x_limit/4))
		if(temp_y>y_limit or temp_y<-y_limit):
			while(not (temp_y>y_limit or temp_y<-y_limit)):
				temp_y=self.y+(random()*(x_limit/2)-(x_limit/4))
		self.target_x=temp_x
		self.target_y=temp_y
		self.angle=tan_inv((temp_y-self.y),(temp_x-self.x))
		# print(self.angle)

	def update(self,x_limit,y_limit):
		if self.sleep:
			self.sleep=False
			return
		temp_x=self.x+self.speed*math.cos(self.angle)
		temp_y=self.y+self.speed*math.sin(self.angle)
		if(temp_x>x_limit):
			temp_x=x_limit
		if(temp_x<-x_limit):
			temp_x=-x_limit
		if(temp_y>y_limit):
			temp_y=y_limit
		if(temp_y<-y_limit):
			temp_y=-y_limit
		self.x=temp_x
		self.y=temp_y

	def enemy_in_range(self,enemy):
		if(math.sqrt(pow(enemy.x-self.x,2)+pow(enemy.y-self.y,2))<=self.limit):
			return True
		else:
			return False

	def obstacle_in_range(self,obstacle_part):
		if(math.sqrt(pow(obstacle_part.x-self.x,2)+pow(obstacle_part.y-self.y,2))<=self.limit):
			return True
		else:
			return False

	def update_goAround(obstacle):
		if(self.goAround==1):
			self.x+=sin(tan_inv(obstacle.y-self.y/obstacle.x-self.x))
			self.y+=cos(tan_inv(obstacle.y-self.y/obstacle.x-self.x))
			if((pow(abs(self.x-obstacle.x),2)+pow(abs(self.y-obstacle.y),2))>=100):
				self.goAround=2
			return
		if(self.goAround==2):
			self.x+=sin(tan_inv(self.target_y-self.y/self.target_x-self.x))
			self.y+=cos(tan_inv(self.target_y-self.y/self.target_x-self.x))
