/// <summary>
/// Start the RRT.
/// </summary>
/// <param name="_Start">Start.</param>
/// <param name="_StartOrientation">Start orientation.</param>
/// <param name="_End">End.</param>
/// <param name="_EndOrientation">End orientation.</param>
public void Start(Point _Start, double _StartOrientation, Point _End, double _EndOrientation)
{
this.StartPoint = InternalMap.FromMapCoordinates(_Start);
if (PointValid(StartPoint))
{
throw new Exception("StartPoint in invalid region");
}
this.StartOrientation = _StartOrientation;
this.StartRRTNode = new RRTNode(StartPoint, StartOrientation, null);
this.EndPoint = InternalMap.FromMapCoordinates(_End);
if (PointValid(EndPoint))
{
throw new Exception("EndPoint in invalid region");
}
this.EndOrientation = _EndOrientation;
this.EndRRTNode = new RRTNode(EndPoint, EndOrientation, null);
this.AllNodes.Add(StartRRTNode);
//Do n iterations of the algorithm
double PreviousProgress = 0;
GenerateStartLine();
Console.WriteLine();
for (UInt32 it = 0; it < Iterations; it++)
{
DoStep();
Progress = (int)(Math.Round(((double)it / (double)Iterations) * 100));
if (Progress != PreviousProgress)
{
PreviousProgress = Progress;
PrintProgress();
}
}
if (Finished != null)
{
Finished(this, new EventArgs());
}
}
