/********************************************************************* 
 * Copyright (c) mr-sk, 2008.
 * 
 * Author: sk
 * Email:  sk@mr-sk.com
 * Http:   mr-sk.com
 * 
 * Compile: gcc ff.c
 *
 * What: Implements a basic algorithm for obstacle avoidance with the
 * Khepera II robot. This just allows you to quickly calculate 
 * fitness values.
 * 
 ********************************************************************
 *
 * Who:    When:      What:
 * ----    -----      -----
 * sk      10-Jul-08  Created.
 * 
 **********************************************************************/

#include <stdio.h>
#include <stdlib.h>

int main()
{
  int m1, m2, a, s[7], i, counter=0, fitness, s_total=0;
  a = 10;
  float b = 0.3;

  printf("m1=");
  scanf("%d", &m1);
  printf("\nm2=");
  scanf("%d", &m2);

  for (i=0; i<8; i++)
  {
    
    printf("\ns%d=",i);
    scanf("%d", &s[counter]); 
    counter++; 
 }  

  printf("\nCalculating fitness...");

  fitness = a * ( abs(m1) + abs(m2) - abs(m1-m2) );
  for (i=0; i<8; i++)
  {
    s_total += b*s[i];
  }
  fitness = fitness - s_total;
  printf("\n F = %i\n", fitness);
	      
}