"""
when the boat wants to go home, it has to plot a route that might involve avoidance of the shore
(e.g. in a lake shaped like a boomerang). To do that, the boat is going to imagine facing its destination,
then projecting several 2-segment paths to the destination. whichever path is shortest but doesn't collide with the
defined lake edge is the path which the robot will use.

I haven't implemented edge detection like this before so It's going to take some effort.
see notepad purple page 1

"""
import math as Math
class p:
    def __init__(self):
        self.x=x
        self.y=y
        self.d=d
    def xy(self):
        return [self.x,self.y]



def exampleMapCircle(): #generates a circular map and returns it as a list of 'p' objects
    radius = 10
    numpoints = 20
    mappoints=[]
    for i in xrange(numpoints):
        angle = i*2 * 3.1416/numpoints
        newpoint = p(0,0,0)
        p.x = Math.cos(angle)*radius
        p.y = Math.sin(angle)*radius
        d = 0
        mappoints.append(p)
    return mappoints

def exampleMapStar(): # generates the points of an n-pointed star
    innerradius = 5
    outerradius = 15
    numpoints = 5
    mappoints=[]
    for i in xrange(numpoints):
        point = p()
        angle= i*2*3.1416/numpoints
        p.x=Math.cos(angle) * innerradius
        p.y=Math.sin(angle) * innerradius
        mappoints.append(p)
        angle = (i+0.5)*2*3.1416/numpoints
        p.x=Math.cos(angle) * outerradius
        p.y=Math.sin(angle) * outerradius
        mappoints.append(p)
        print "done"
exampleMapStar()