Getting close

ConsoleApp/Sim/DetectionHead.cs

@@ -10,7 +10,16 @@ namespace ConsoleApp.Sim
             Graph graph,
             Coordinate2D centerCoordinate,
             int detectorRadius,
-            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+            int vehicleTurnRadius)
+        {
+            var detectorCells = graph.GetRange(centerCoordinate, detectorRadius);
+            // var vehicleCells = graph.GetRange(centerCoordinate, vehicleTurnRadius);
+            // foreach (var vehicleCell in vehicleCells)
+            // {
+            //     detectorCells.Remove(vehicleCell);
+            // }
+            return detectorCells;
+        }
 
         public static List<Cell> GetCoveredCells(
             ISquareMap squareMap,

ConsoleApp/Sim/IVehicle.cs

@@ -1,4 +1,5 @@
 using ConsoleApp.Maps;
+using HexCore;
 
 namespace ConsoleApp.Sim
 {
@@ -6,11 +7,9 @@ namespace ConsoleApp.Sim
     {
         int Length { get; }
         int Width { get; }
-        int DetectorOffset { get;}
+        int TurnRadius { get; }
         int DetectorRadius { get;}
-        HexCore.Coordinate2D CurrentHexCell { get; set; }
-        Heading HexHeading { get; set; }
-        Heading SquareHeading { get; set; }
+        Coordinate2D CurrentHexCell { get; set; }
         ICell CurrentSquareCell { get; set; }
     }
 }

ConsoleApp/Sim/Vehicle.cs

@@ -1,3 +1,5 @@
+using System;
+using System.Collections.Generic;
 using ConsoleApp.Maps;
 
 namespace ConsoleApp.Sim
@@ -6,12 +8,9 @@ namespace ConsoleApp.Sim
     {
         public int Length { get; }
         public int Width { get; }
-
-        public int DetectorOffset { get;}
+        public int TurnRadius { get; }
         public int DetectorRadius { get;}
         public HexCore.Coordinate2D CurrentHexCell { get; set; }
-        public Heading HexHeading { get; set; }
-        public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }
         
         
@@ -20,12 +19,17 @@ namespace ConsoleApp.Sim
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
             var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Sim/VehicleConfiguration.json");
-            Length = config.Length;
-            Width = config.Width;
-            DetectorRadius = config.DetectorRadius;
-            DetectorOffset = config.DetectorOffset;
-            CurrentHexCell = default;
-            CurrentSquareCell = default;
+            var length = config.Length;
+            length *= 100;
+            Length = (int)Math.Ceiling((decimal)length/ 25);
+            var width = config.Width;
+            width *= 100;
+            Width = (int)Math.Ceiling((decimal)width/ 25);
+            DetectorRadius = (int)Math.Floor(((decimal)config.DetectorRadius * 100)/25)/2;
+            TurnRadius = (int)Math.Ceiling(Math.Sqrt(Math.Pow(config.Length, 2) * Math.Pow(config.Width, 2))/2);
+            // if (DetectorRadius <= TurnRadius)
+            //     throw new ArgumentException("Detection radius must be larger than the vehicle turn radius");
+
         }
     }
 }

ConsoleApp/Sim/VehicleConfiguration.cs

@@ -5,6 +5,5 @@ namespace ConsoleApp.Sim
         public int Length { get; set; }
         public int Width { get; set; }
         public int DetectorRadius { get; set; }
-        public int DetectorOffset { get; set; }
     }
 }

ConsoleApp/Sim/VehicleConfiguration.json

@@ -1,6 +1,5 @@
 {
-  "Length": 3,
-  "Width": 2,
-  "DetectorRadius": 3,
-  "DetectorOffset": 2
-}
+  "Length": 1,
+  "Width": 1,
+  "DetectorRadius": 1
+}