public virtual void UpdatePositionAndClean(RectangularRoom room, Random random)
{
Position newPos = RobotPosition.GetNewPosition(RobotPosition, Direction, Speed);
if (room.isPositionInRoom(newPos))
{
room.cleanTileAtPosition(RobotPosition);
RobotPosition = newPos;
}
else
{
Direction = random.Next(360); //Robotul schimba directia cand se loveste de perete
}
}
public void RunSimulation()
{
int trial = 0;
while (trial < NoTrials)
{
int timeStep = 0;
int covarage = 0;
while (covarage < MinCovarage)
{
for (int i = 0; i < NoRobots; i++)
{
Robots[i].UpdatePositionAndClean(Room, random);
}
int tC = Room.numCleanedTiles();
int tT = Room.TilesNo;
decimal cov = (decimal)tC / tT * 100;
covarage = Convert.ToInt32(cov);
Trials[trial].Add(covarage);
timeStep++;
}
TimeSteps[trial] = timeStep;
// New room
Room = new RectangularRoom(Width, Height);
// New Robots
Robots = new List <BaseRobot>();
for (int i = 0; i < NoRobots; i++)
{
Robots.Add(new BaseRobot(Room, Speed, random));
}
trial++;
}
int totTimeSteps = 0;
for (int i = 0; i < NoTrials; i++)
{
totTimeSteps += TimeSteps[i];
}
avarageTimeSteps = totTimeSteps / NoTrials;
}
public Simulator(int noRobots, int speed, int width, int height, int minCovarage, int noTrails, Visual visualForm)
{
random = new Random();
NoRobots = noRobots;
Speed = speed;
Width = width;
Height = height;
MinCovarage = minCovarage;
NoTrials = noTrails;
Trials = new List<int>[NoTrials];
for (int i = 0; i < NoTrials; i++)
Trials[i] = new List<int>();
TimeSteps = new int[NoTrials];
Room = new RectangularRoom(Width, Height);
Robots = new List<BaseRobot>();
for (int i = 0; i < NoRobots; i++)
Robots.Add(new BaseRobot(Room, Speed, random));
this.visualForm = visualForm;
visualForm.Sim = this;
}
public Simulator(int noRobots, int speed, int width, int height, int minCovarage, int noTrails, Visual visualForm)
{
random = new Random();
NoRobots = noRobots;
Speed = speed;
Width = width;
Height = height;
MinCovarage = minCovarage;
NoTrials = noTrails;
Trials = new List <int> [NoTrials];
for (int i = 0; i < NoTrials; i++)
{
Trials[i] = new List <int>();
}
TimeSteps = new int[NoTrials];
Room = new RectangularRoom(Width, Height);
Robots = new List <BaseRobot>();
for (int i = 0; i < NoRobots; i++)
{
Robots.Add(new BaseRobot(Room, Speed, random));
}
this.visualForm = visualForm;
visualForm.Sim = this;
}
public void RunSimulation()
{
int trial = 0;
while (trial < NoTrials)
{
int timeStep = 0;
int covarage = 0;
while (covarage < MinCovarage)
{
for (int i = 0; i < NoRobots; i++)
Robots[i].UpdatePositionAndClean(Room, random);
int tC = Room.numCleanedTiles();
int tT = Room.TilesNo;
decimal cov = (decimal)tC / tT * 100;
covarage = Convert.ToInt32(cov);
Trials[trial].Add(covarage);
timeStep++;
}
TimeSteps[trial] = timeStep;
// New room
Room = new RectangularRoom(Width, Height);
// New Robots
Robots = new List<BaseRobot>();
for (int i = 0; i < NoRobots; i++)
Robots.Add(new BaseRobot(Room, Speed, random));
trial++;
}
int totTimeSteps = 0;
for (int i = 0; i < NoTrials; i++)
totTimeSteps += TimeSteps[i];
avarageTimeSteps = totTimeSteps / NoTrials;
}
} // speed is in pixels
public BaseRobot(RectangularRoom room, int speed, Random random)
{
Direction = random.Next(360);
this.Speed = speed;
RobotPosition = room.randomPosition(random);
}