// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new Particle[numParticles];
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles[i] = new Particle();
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new Particle[numParticles];
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles[i] = new Particle();
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps);
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
// Constructor for the Navigation class
public Navigation(JaguarCtrl jc)
{
// Initialize vars
jaguarControl = jc;
realJaguar = jc.realJaguar;
simulatedJaguar = jc.simulatedJaguar;
//genAlg_ = new Genetic(numGenerations, popSize, mutationRate, mutationFactor, this, numParents, maxSteps);
map = new Map();
particles = new Particle[numParticles];
propagatedParticles = new List<Particle>(numParticles);
// Create particles
for (int i = 0; i < numParticles; i++)
{
particles[i] = new Particle();
propagatedParticles.Add(new Particle());
}
this.Initialize();
// Start Control Thread
controlThread = new Thread(new ThreadStart(runControlLoop));
controlThread.Start();
}
public JaguarCtrl()
{
simulatedJaguar = new AxDDrRobotSentinel_Simulator();
navigation = new Navigation(this);
drRobotConnect = new DrRobotRobotConnection(this);
drRobotConnect.connectRobot();
robotCfg = drRobotConnect.robotConfig;
jaguarSetting = (RobotConfig.RobotConfigTableRow)robotCfg.RobotConfigTable.Rows[0];
InitializeComponent();
// Setup graphics for simulation
SetStyle(ControlStyles.OptimizedDoubleBuffer, false);
this.Paint += new System.Windows.Forms.PaintEventHandler(this.JaguarCtrl_Paint);
panelGE.Visible = false;
mapResolution = trackBarZoom.Value * zoomConstant;
// Start Simulated Sensor Update Thread
runSensorThread = true;
sensorThread = new Thread(runSensorLoop);
sensorThread.Start();
}