public void startSimulationDSTAR(int startX, int startY, int endX, int endY)
{
rover = new Vehicle(mapManager);
System.Diagnostics.Stopwatch sw = System.Diagnostics.Stopwatch.StartNew();
rover.traverseMapDstar(startX, startY, endX, endY);
sw.Stop();
rover.generatePathImage();
steps = rover.getSteps();
imageSource = rover.getPathImage();
timeTaken = sw.Elapsed.TotalSeconds + " Seconds";
stepTraverseStarted = false;
}
public void runCompareSimulation()
{
if (rover.reachedTarget())
{
compareRover = new Vehicle(mapManager);
compareRover.fullEnvironment();
compareRover.traverseCompare(startX, startY, targetX, targetY);
compareRoverD = new Vehicle(mapManager);
compareRoverD.fullEnvironment();
compareRoverD.traverseMapDstar(startX, startY, targetX, targetY);
likenessDknownToA = comparePaths(compareRover.getPathPoints(), compareRoverD.getPathPoints());
likenessDunknownToA = comparePaths(compareRover.getPathPoints(), rover.getPathPoints());
likenessDunknownToDknown = comparePaths(compareRoverD.getPathPoints(), rover.getPathPoints());
compareCompleted = true;
}
}