public RobotBase(Point position,
float radius,
Vector2D velocity,
float maxSpeed,
Vector2D heading,
float mass,
Vector2D scale,
float turnRate,
float maxForce,
List<Node> patrolPath,
Workspace traversabilityMap,
Workspace visibilityMap)
: base(position, radius, velocity, maxSpeed, heading, mass, scale, turnRate, maxForce, traversabilityMap, visibilityMap)
{
CurrentTarget = null;
NeedToRunTimeStep = false;
LastDecisionPoint = DateTime.MinValue;
CurrentPath = null;
_patrolPath = patrolPath;
}
public AerialPursuer(State<AerialPursuer> startState,
Point position,
float radius,
Vector2D velocity,
float maxSpeed,
Vector2D heading,
float mass,
Vector2D scale,
float turnRate,
float maxForce,
List<Node> patrolPath,
Workspace traversabilityMap,
Workspace visibilityMap)
: base(position, radius, velocity, maxSpeed, heading, mass, scale, turnRate, maxForce, patrolPath, traversabilityMap, visibilityMap)
{
StateMachine = new StateMachine<AerialPursuer>(this);
if (startState != null)
{
StateMachine.SetCurrentState(startState);
StateMachine.ChangeState(startState);
StateMachine.SetGlobalState(GlobalAerialPursuerStates.TheInstance);
}
}
private void GenerateMilestones(Workspace workspace)
{
if (workspace == null || workspace.Milestones == null || workspace.Milestones.Count == 0)
return;
foreach (Node milestone in workspace.Milestones)
GeneratePoint(milestone, Brushes.Gray, Brushes.DarkSlateGray, NORMAL_POINT_SIZE);
}
public MainWindow()
{
InitializeComponent();
_workspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX);
}
private void GenerateEdges(Workspace workspace)
{
if (workspace == null || workspace.Milestones == null || workspace.Milestones.Count == 0)
return;
Line line;
foreach (Node milestone in workspace.Milestones)
{
foreach (Edge edge in milestone.Edges)
{
line = new Line()
{
Stroke = Brushes.Gray,
StrokeThickness = 1,
X1 = edge.FirstPoint.X * pixelsPerXUnit,
X2 = edge.SecondPoint.X * pixelsPerXUnit,
Y1 = edge.FirstPoint.Y * pixelsPerYUnit,
Y2 = edge.SecondPoint.Y * pixelsPerYUnit
};
myCanvas.Children.Add(line);
}
}
}
private List<Target> GenerateTargets(HomeworkTwo.Point point, Workspace traversabilityMap, Workspace visibilityMap)
{
// Create our agents
return new List<Target>() { new Target(TargetPatrol.TheInstance,
point, // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .7f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(1.0, 1.0), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
new List<Node>(), // patrol path
traversabilityMap, // traversability map
visibilityMap)}; // visibility map
}
private List<RobotBase> GeneratePursuers(HomeworkTwo.Point point, Workspace traversabilityMap,
Workspace visibilityMap, List<Node> groundPatrolPath)
{
Workspace airWorkspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { };
airWorkspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> airPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
return new List<RobotBase>() { new GroundPursuer(GroundPursuerPatrol.TheInstance,
point, // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .6f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(1, 1), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
groundPatrolPath, // patrol path
traversabilityMap, // traversability map
visibilityMap),// visibility map
new AerialPursuer(AerialPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,15), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .75f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
airPatrolPath, // patrol path
airWorkspace, // traversability map
airWorkspace) }; // visibility map
}
/// <summary>
/// Generates all the farm stuff
/// </summary>
private void GenerateFarm()
{
backgroundName = "Farm";
_workspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { Obstacles = GenerateBaseFarmObstacles() };
_workspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> groundPatrolPath = new List<Node>() {
_workspace.GetNode(new HomeworkTwo.Point(18, 10)),
_workspace.GetNode(new HomeworkTwo.Point(18, 35)),
_workspace.GetNode(new HomeworkTwo.Point(28, 35)),
_workspace.GetNode(new HomeworkTwo.Point(28, 2)),
_workspace.GetNode(new HomeworkTwo.Point(28, 35)),
_workspace.GetNode(new HomeworkTwo.Point(18, 35))};
// Create our robot group with our agents
_robotGroup = new RobotGroup(
GeneratePursuers(new HomeworkTwo.Point(25, 38), _workspace, _workspace, groundPatrolPath),
GenerateTargets(new HomeworkTwo.Point(30, 39), _workspace, _workspace),
TIME_STEP_LENGTH,
TIME_HORIZON,
VISIBLITY_CRITERIA);
}
/// <summary>
/// Generates all the city stuff
/// </summary>
private void GenerateCity()
{
backgroundName = "City";
Obstacles obstacles = new Obstacles();
// Create obstacles
for (double i = 3.5; i <= 38; i = i + 5.5)
for (double j = 25.5; j <= 38; j = j + 5.5)
obstacles.Add(new RectangleObstacle(new HomeworkTwo.Point(j,i), 4, 4));
for (double i = 25.5; i <= 38; i = i + 5.5)
for (double j = 3.5; j <= 22; j = j + 5.5)
obstacles.Add(new RectangleObstacle(new HomeworkTwo.Point(j,i), 4, 4));
// Set up workspace and generate nodes
_workspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { Obstacles = obstacles };
_workspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
Workspace airWorkspace = new Workspace(X_MIN, X_MAX, Y_MIN, Y_MAX) { };
airWorkspace.GenerateEvenGraph((UInt16)(X_RANGE + 1), (UInt16)(Y_RANGE + 1));
List<Node> groundPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 20)),
airWorkspace.GetNode(new HomeworkTwo.Point(20, 20)),
airWorkspace.GetNode(new HomeworkTwo.Point(20, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
List<Node> airPatrolPath = new List<Node>() {
airWorkspace.GetNode(new HomeworkTwo.Point(1, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 39)),
airWorkspace.GetNode(new HomeworkTwo.Point(39, 1)),
airWorkspace.GetNode(new HomeworkTwo.Point(1, 1))};
// Create our agents
List<RobotBase> pursuerRobots = new List<RobotBase>() {
new GroundPursuer(GroundPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,1), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED * .8f, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
groundPatrolPath, // patrol path
_workspace, // traversability map
_workspace), // visibility map
new AerialPursuer(AerialPursuerPatrol.TheInstance,
new HomeworkTwo.Point(1,15), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
airPatrolPath, // patrol path
airWorkspace, // traversability map
airWorkspace) }; // visibility map
List<Target> targetRobots = new List<Target>() { new Target(TargetPatrol.TheInstance,
new HomeworkTwo.Point(30,39), // location
RADIUS, // radius
new Vector2D(), // intial velocity
MAX_SPEED, // max speed
new Vector2D(), // intial heading
MASS, // mass
new Vector2D(), // scale
TURN_RATE, // turn rate
MAX_FORCE, // max force
new List<Node>(), // patrol path
_workspace, // traversability map
_workspace)}; // visibility map
// Create our robot group with our agents
_robotGroup = new RobotGroup(pursuerRobots, targetRobots, TIME_STEP_LENGTH, TIME_HORIZON, VISIBLITY_CRITERIA);
}
