My first Javascript robotics simulator (and II)

A week ago I wrote a post about a Javascript robotics simulator. As an experimental project, I took the opportunity to try different technologies: HTML5, Javascript and Git. In this post I am going to write about what I have learnt with this project from a technical point of view, and what the future lines of work could be.


I learnt how the new slider input works, and how to use a canvas to display graphical information into a web browser. The canvas element is not intended to keep track of a set of moving objects because it only knows about pixels (read more about this). For this reason SVG could have been a good alternative in this case.

I also tried to use Web Workers to run the simulation in the background, avoiding to block the UI, but I had some problems sending information back and forth to the workers, so this feature will have to wait (the code is shared at github, so contributions are welcome)

HTML5 support is already pretty good and, if in one of my last posts I blamed Google, today I have to say they are making a great effort to take the Internet forward.

Javascript & TDD

I mostly work with Java, so my mind tend to think in an object-oriented way. I tried to discover good practices about how to organize the code, but I must admit I still have to learn a lot about Javascript. The fact that my code is a port from C# did not help at all. To compensate for it, I had the chance to install and try MonoDevelop.

I also tried to learn how to adopt TDD practices in Javascript. I finally did a proof of concept with the console object. This is an example:

// Code to be tested
function Vector2(x, y) {
    this.x = x;
    this.y = y; = function(vector) {
        return new Vector2(x + vector.x, y + vector.y);

// Tests"Coordenates are set");
    v = new Vector2(3, 2);
    console.assert(v.x === 3, "x coordinate is not set");
    console.assert(v.y === 2, "y coordinate is not set");
console.groupEnd();"Sum two vectors");
    v1 = new Vector2(3, 2);
    v2 = new Vector2(5, 7);
    res =;
    console.assert(res.x === 5 + 3, "added x coordinate is wrong");
    console.assert(res.y === 7 + 2, "added y coordinate is wrong");

It is probably the easiest way to write a unit test in Javascript, but it is very limited as well. The second point to be done is to try a complete testing framework such as QUnit or Jasmine, as recommended by Alejandro.

GIT. Sourceforge who?

I shared the code in github (please feel free to contribute) and I tried the new EGit plugin to work with github (or any other git repository) from Eclipse.

It works fine, but despite I can see many of the advantages of git, I don’t think it is easier or more intuitive to use than SVN. I am still not used to the whole git workflow, but I will keep trying because what is clear is that github is amazing and has changed the way people cooperate in the open-source world.

Other lines of work

  * Fix existing bugs when obstacles are present.
  * Compare the ORCA algorithm with other ones, specially those related with [genetic algorithms]( Apply this kind of algorithms to model human behaviour, more effective placement of emergency exits in buildings, etc.
  * Integrate this algorithm into a piece of hardware, such as an Arduino board. I can also think about several Roomba robots sweeping my floor in less time without collisions.

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