private void btnHumanPath_Click(object sender, EventArgs e)
{
if (_formState == FormState.IDLE)
{
_formState = FormState.ADD_HUMAN_INIT;
}
else if (_formState == FormState.GENERATING_HUMANPATH)
{
_formState = FormState.HUMANPATH_GENERATED;
if (this.rbBatchTest.Checked == false)
{
_map.GetMapStateMgr().Update(_human, _human.path);
}
}
else if (_formState == FormState.ADD_HUMAN_INIT)
{
_formState = FormState.IDLE;
// reset
_map.MapState.ActiveHex = null;
_human.path.Clear();
}
else if (_formState == FormState.HUMANPATH_GENERATED)
{
if (MessageBox.Show("Clear Human Path?", "Warning", MessageBoxButtons.OKCancel) == DialogResult.OK)
{
_map.MapState.ActiveHex = null;
_human.path.Clear();
_formState = FormState.ADD_HUMAN_INIT;
}
}
Refresh();
}
private void LoadData()
{
for (int i = 0; i < _map.Width; i++)
{
for (int j = 0; j < _map.Height; j++)
{
_entropyData[j, i] = _map.GetMapStateMgr().GetEntropy(i, j);
}
}
}
public double[,] CalcVal(HexagonalMap map)
{
double[,] newEntropy = (double[, ])map.GetMapStateMgr().GetEntropy().Clone();
//how to caculate a point?
// check GMM one by one , take the max
for (int i = 0; i < map.Height; i++)
{
for (int j = 0; j < map.Width; j++)
{
Hex hex = map.GetHex(i, j);
double maxVal = 0.0;
List <Gaussian> .Enumerator e = gaussianList.GetEnumerator();
while (e.MoveNext())
{
double gVal = 0;
int pointNum = hex.Points.Length;
double centerX = 0.0;
double centerY = 0.0;
for (int k = 0; k < pointNum; k++)
{
centerX += hex.Points[k].X;
centerY += hex.Points[k].Y;
}
centerX = centerX / (double)pointNum;
centerY = centerY / (double)pointNum;
gVal = CalcGaussian(e.Current, centerX, centerY);
if (maxVal < gVal)
{
maxVal = gVal;
}
}
newEntropy[i, j] = maxVal;
}
}
return(newEntropy);
}
public PathPlanner(HexagonalMap map, Robot agent)
{
_map = map;
_agent = agent;
_localEntropy = _map.GetMapStateMgr().CopyEntropy();
}
private void btnStart_Click(object sender, EventArgs e)
{
string methodName = "";
string methodShortName = "";
long startTime = 0;
long endTime = 0;
long deltaTime = 0;
double spendTime = 0.0;
HexaPath maxPath = new HexaPath();
startTime = DateTime.Now.Ticks;
if (_planMethod == planMethod.EX_DFS)
{
ExhaustiveDFSPathPlanner planner = new ExhaustiveDFSPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "EXHAUSTIVE DFS";
methodShortName = "EXDFS";
}
else if (_planMethod == planMethod.ITERATIVE_BACK_PROP)
{
IterativeBackPropPathPlanner planner = new IterativeBackPropPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE";
methodShortName = "ITBP";
}
else if (_planMethod == planMethod.SIMPLE_GREEDY)
{
SimpleGreedyPathPlanner planner = new SimpleGreedyPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "SIMPLE GREEDY";
methodShortName = "SG";
}
else if (_planMethod == planMethod.GENE_ALG)
{
GeneticAlgorithmPathPlanner planner = new GeneticAlgorithmPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "GENETIC ALGORITHM";
methodShortName = "GA";
}
else if (_planMethod == planMethod.BACK_PROP)
{
BackPropPathPlanner planner = new BackPropPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "BACK PROP";
methodShortName = "BP";
}
else if (_planMethod == planMethod.IT_BACK_PROP_ENH)
{
IterativeBackPropEnhPathPlanner planner = new IterativeBackPropEnhPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE ENH";
methodShortName = "ITBPE";
}
else if (_planMethod == planMethod.IT_BACK_PROP_RETRK)
{
IterativeBackPropRetrackPathPlanner planner = new IterativeBackPropRetrackPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE RETRK";
methodShortName = "ITBPR";
}
else if (_planMethod == planMethod.IT_BP_COMBO)
{
IterativeBackPropComboPathPlanner planner = new IterativeBackPropComboPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERTATIVE BACK PROP COMBO";
methodShortName = "ITBPCOM";
}
else if (_planMethod == planMethod.EXPAND_TREE_1)
{
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(_map, (Robot)_agent);
planner.iteratingOnce = true;
maxPath = planner.FindPath(_graph, _startPos);
//Console.WriteLine("EXCLUSIVE EXPANDING NODE NUM: " + planner.GetExclusiveExpandingNodeNum(_graph, _startPos));
methodName = "EXPANDING TREE ONE";
methodShortName = "EXP_TREE_1";
}
else if (_planMethod == planMethod.EXPAND_TREE_N)
{
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(_map, (Robot)_agent);
planner.iteratingOnce = false;
maxPath = planner.FindPath(_graph, _startPos);
// Console.WriteLine("EXCLUSIVE EXPANDING NODE NUM: " + planner.GetExclusiveExpandingNodeNum(_graph, _startPos));
methodName = "EXPANDING TREE N";
methodShortName = "EXP_TREE_N";
}
endTime = DateTime.Now.Ticks;
deltaTime = endTime - startTime;
spendTime = deltaTime / 10000.0;
Console.WriteLine("PATH BY " + methodName + " : " + maxPath.ToString());
txtBoxInfo.AppendText("PATH BY " + methodName + " : " + maxPath.ToString() + "\n");
double[,] tempEntropy = (double[, ])_map.GetMapStateMgr().CopyEntropy();
double maxScore = _agent.Score(maxPath, tempEntropy);
Console.WriteLine("SCORE: " + maxScore);
txtBoxInfo.AppendText("SCORE: " + maxScore + "\n");
Console.WriteLine("TIME SPENT: " + spendTime + "\n");
txtBoxInfo.AppendText("TIME SPENT: " + spendTime + " ms\n\n");
_agent.Update(maxPath, tempEntropy);
string filename = methodShortName + "-" + DateTime.Now.ToShortTimeString() + ".png";
filename = filename.Replace(":", "-");
_mapDrawer.DrawEnv(filename, tempEntropy, maxPath, Color.Green, _humanPath);
}