public AlgTopTwo(MapModes _curModes, PathPlanningRequest _curRequest, int _ModeCount, RtwMatrix _mModes, RtwMatrix _mDistReachable,
RtwMatrix _mDiffReachable, double _Efficiency_UB)
: base(_curRequest, _mDistReachable, _mDiffReachable, _Efficiency_UB)
{
// Start timer
//DateTime startTime = DateTime.Now;
myModes = _curModes;
//DateTime stopTime = DateTime.Now;
//TimeSpan duration = stopTime - startTime;
//double RunTime = duration.TotalSeconds;
//System.Windows.Forms.MessageBox.Show("Run time " + RunTime + " seconds!");
CTFTTCoraseLevel = ProjectConstants.CTFTTCoraseLevel;
CTFTTLevelCount = ProjectConstants.CTFTTLevelCount;
mDistAfterSeg1Seg4 = mDist;
}
public AlgTopN(MapModes _curModes, PathPlanningRequest _curRequest, int _ModeCount, RtwMatrix _mModes, RtwMatrix _mDistReachable,
RtwMatrix _mDiffReachable, double _Efficiency_UB)
: base(_curRequest, _mDistReachable, _mDiffReachable, _Efficiency_UB)
{
//DateTime startTime = DateTime.Now;
myModes = _curModes;
//DateTime stopTime = DateTime.Now;
//TimeSpan duration = stopTime - startTime;
//double RunTime = duration.TotalSeconds;
//System.Windows.Forms.MessageBox.Show("Run time " + RunTime + " seconds!");
Start = new Point(curRequest.pStart.column, curRequest.pStart.row);
if (curRequest.UseEndPoint)
{
End = new Point(curRequest.pEnd.column, curRequest.pEnd.row);
}
N = curRequest.TopN;
}
// Method to perform the path planning
protected override void DoPathPlanning()
{
// Sanity check: Don't do this when there is no mode or just 1 mode
if (ModeCount < 3)
{
System.Windows.Forms.MessageBox.Show("Can't use TopN algorithm because there are less than 3 modes!");
return;
}
// Do not exceed Max N set in project constants
int GCount = ModeCount;
if (GCount > ProjectConstants.Max_N)
{
GCount = ProjectConstants.Max_N;
}
// Loop through Gaussian Counts
int counter = 0;
for (int i = GCount; i > 1; i--)
{
for (int j = i; j > 1; j--)
{
// Clone things for each search
PathPlanningRequest curRequestCopy = curRequest.DeepClone();
RtwMatrix mDistCopy = mDist.Clone();
RtwMatrix mDiffCopy = mDiff.Clone();
// Set appropriate parameters (always do coarse to fine and parallel)
curRequestCopy.AlgToUse = AlgType.TopN;
curRequestCopy.BatchRun = false;
curRequestCopy.DrawPath = false;
curRequestCopy.RunTimes = 1;
curRequestCopy.UseCoarseToFineSearch = true;
curRequestCopy.UseHierarchy = true;
curRequestCopy.UseParallelProcessing = true;
curRequestCopy.TopN = j;
MapModes curModes = new MapModes(i, ModeCount, mModes, curRequestCopy, mDist, mDiff);
// Create path planning object
AlgTopN curAlg = new AlgTopN(curModes, curRequestCopy, ModeCount, mModes, mDistCopy, mDiffCopy, Efficiency_UB);
curAlg.index = counter;
lstThreads.Add(curAlg);
counter++;
}
}
// Allocate array space for results
arrResponses = new PathPlanningResponse[lstThreads.Count];
// Decide whether to do parallelization
if (curRequest.UseParallelProcessing)
{
ParallelSearch();
}
else
{
ExtensiveSearch();
FindBestPath();
}
}
