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package planification;
import java.io.BufferedWriter;
import java.io.FileWriter;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Scanner;
public class App {
public static void main(String[] args) throws IOException {
Scanner sc = new Scanner(System.in);
String line = sc.nextLine();
double lat;
double lon;
double longueur;
double largeur;
double alt;
double k;
double nbWaypoint;
String[] parts = line.split(" ");
lat = Double.parseDouble(parts[0]);
lon = Double.parseDouble(parts[1]);
longueur = Double.parseDouble(parts[2]);
largeur = Double.parseDouble(parts[3]);
alt = Double.parseDouble(parts[4]);
k = Double.parseDouble(parts[5]);
nbWaypoint= Double.parseDouble(parts[6]);
double zForEachWaypoint = alt / nbWaypoint;
ArrayList<Waypoint> waypoints = new ArrayList<Waypoint>();
double r = Math.max(longueur, largeur) + 3;
double z = 0;
double theta = 0;
double gimbal = 0;
for(int i = 0 ; i < nbWaypoint ; ++i) {
theta = z / k;
double x = r * Math.cos(theta);
double y = r * Math.sin(theta);
waypoints.add(new Waypoint(x, y, z, theta, gimbal, true));
System.out.println("x = " + x + " y = " + y + " z = " + z + " t = " + theta);
z += zForEachWaypoint;
}
z = alt;
for(int i = 0 ; i < nbWaypoint ; ++i) {
theta = z / k + 180;
double x = r * Math.cos(theta);
double y = r * Math.sin(theta);
waypoints.add(new Waypoint(x, y, z, theta, gimbal, true));
System.out.println("x = " + x + " y = " + y + " z = " + z + " t = " + theta);
z -= zForEachWaypoint;
}
BufferedWriter writer = new BufferedWriter(new FileWriter("./flightplan.txt"));
for(int i = 0 ; i < waypoints.size() ; ++i) {
Waypoint wp = waypoints.get(i);
String s = wp.getLat() + ":" + wp.getLon() + ":" + wp.getAlt() + ":" + wp.getDirection() + ":" + wp.getGimbal() + ":" + wp.isPhoto() + "\n";
writer.write(s);
}
writer.close();
}
}
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