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Finally, before calling moveBypass(), I check to see if the remainingMS is greater than the offsetTime This is because it s still possible that the robot is close enough to its desired position that any bypass would not get it any closer to its goal than if it just stayed put Finally, if no obstacle is detected, the robot just moves forward for the remaining milliseconds The first of the two private methods is ObsicalForward(), which determines if there s an obstacle in the way of the robot Again, you want to adjust the values in this method for your robot s configuration Here I get all the sonar readings from the NavStaqmp, and depending on the readings, I return a true for obstacle and a false for no obstacle The second method, moveBypass(), creates two bypass vectors These are vectors e and f in Figure 7-10.



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If no failures are listed in the Output pane, then you ll have a compiled version of ImageMagick in the output directory you specified in the configuration wizard.

To calculate them, first the robot needs to determine the direction of the obstacle To calculate the direction, I used a probability approach for each of the readings..

Figure 2-3.





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The first measurements are the infrared detectors If the left side is greater than the right, I increase the left s probability of having an obstacle closer (higher means closer for the infrared sensors) If the sonar reading on the left is smaller, I increase the left s probability of an obstacle because there is more room on the right In the next set of calculations, I need to determine the final length of vector f This is the second vector in the bypass path Since I know the length of the first vector, I will have to calculate the second vector so that the robot will move to its original target point The calculation first looks at the distance the robot has traveled parallel to its original heading This is the COS of the angle multiplied by the offsetDistance.

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ImageMagick consists of a series of components. These components fall into two overall categories modules and delegates. Modules are ImageMagick s code for handling a given image format. When a dependency isn t available at compile time, then that module will be disabled. Delegates are an extremely similar concept, but delegates are also extensible. You ll notice that I ve already discussed delegates when showing how to compile from source. The Introducing Delegates section covered the delegates that ship by default with ImageMagick. Refer to the

Now I can calculate the remaining distance in the direction of the original heading by subtracting the remaining time from this value Finally, the robot has a new distance it needs to travel such that the angle that is computed by the right triangle of one side is the remaining distance on the original path, and the second side is the distance traveled from the original path I can calculate the angle by taking the arc tangent of these two ratios, and then I can calculate the distance by squaring the sides, adding them, and then taking the square root Now the robot will recursively call move() with two new headings Because of this recursion, it s theoretically possible for the robot to move in a circle until it avoids the obstacle(s).

next section, Using Configuration Files, for more information on adding delegates to ImageMagick, and to 9, which discusses how to write a simple delegate of your own in C. You can configure ImageMagick in two more ways. The method I ve already discussed is of course using the various compilation options that are available when you build from source. The two additional ways of configuring ImageMagick are using configuration files and using environment variables, each of which is covered in its own section.

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