// Use this for initialization
void Start()
{
robots = findtag("robot");
numrobot = robots.Length;
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
positions = new Vector3[aree.Length];
numaree = aree.Length;
for (int i = 0; i < aree.Length; i++)
{
positions[i] = aree[i].center3D;
}
ff = new FitnessFunction(numrobot, robots, positions);
ga = new GeneticAlgorithm(numrobot + aree.Length, 10, maxIteration, ff);
/*
* int[] solution = ga.run ();
*
* string log = "GA: [";
* for (int i=0; i<solution.Length; i++) {
* log += solution[i] + ", ";
* }
* log = "]";
* Debug.Log (log);
*/
ga.first_generation(ga._population);
}
void testFitness()
{
robots = findtag("robot");
numrobot = robots.Length;
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
positions = new Vector3[aree.Length];
for (int i = 0; i < aree.Length; i++)
{
positions[i] = aree[i].center3D;
}
//Debug.Log (positions.Length);
FitnessFunction ff = new FitnessFunction(numrobot, robots, positions);
GeneticAlgorithm ga = new GeneticAlgorithm(numrobot + aree.Length, 10, 1000, ff);
int[] individual = new int[] { 0, 1, 2, 3, 4, 5, 6 };
Debug.Log("Fitness: " + ga.calculateFitness(individual));
individual = new int[] { 0, 1, 2, 3, 6, 4, 5 };
Debug.Log("Fitness: " + ga.calculateFitness(individual));
individual = new int[] { 0, 2, 3, 6, 1, 4, 5 };
Debug.Log("Fitness: " + ga.calculateFitness(individual));
makeItMove(individual);
}
// Use this for initialization
void Start()
{
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
graph = new Graph(aree);
graph.drawConnections();
graph.printNodes();
}
// Use this for initialization
void Start()
{
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
graph = new Graph(aree);
//graph.drawConnections ();
graph.printNodes();
//Debug.Log ();
robots = findtag("robot");
int R = robots.Length;
int[] r = new int[R];
for (int i = 0; i < R; i++)
{
r[i] = graph.findInGraph(robots [i]);
//Debug.Log ("robot "+r[i]);
}
pe = new PEalgorithmV2(graph, r);
//Path path = pe.PEstep (maxIteration);
//path.print ();
pe.inizializzation();
}
private void distTest()
{
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
graph = new Graph(aree);
// Debug.Log ("Shortest path dist nodes 3 to 0: "+graph.dist (3, 0));
// Debug.Log ("Shortest path dist nodes 3 to 1: "+graph.dist (3, 1));
// Debug.Log ("Shortest path dist nodes 3 to 2: "+graph.dist (3, 2));
int[] robots = new int[] { 0, 0 };
int[] dirtySet = new int[] { 1, 0, 0, 1 };
Debug.Log("Distance test: robot [0, 0]: " + dist(robots, dirtySet));
}
// Use this for initialization
void Start()
{
aree = ConvexOverlapping.divideSpaceIntoArea();
graph = new Graph(aree); //secondo me aree dovrà essere statico utilizzabile da tutti gli algoritmi
// graph.constructgraph ();
Node[] nodes = cooperativesearch_paths(graph);
for (int i = 0; i < nodes.Length; i++)
{
Debug.Log(nodes[i].area.center3D);
}
robots = findtag("robot");
numrobot = robots.Length;
Debug.Log("robots: " + numrobot);
positions = new Vector3[nodes.Length];
numaree = nodes.Length;
for (int i = 0; i < numaree; i++)
{
positions[i] = nodes[i].area.center3D;
}
Debug.Log("num robot: " + numrobot);
Debug.Log("num aree: " + numaree);
ff = new FitnessFunction(numrobot, robots, positions);
ga = new GeneticAlgorithm(numrobot + numaree, 10, maxIteration, ff);
ga.first_generation(ga._population);
/*
* graph.printNodes ();
* Node n = graph.nodes [1];
* ArrayList list = n.connection;
* foreach (Node nod in list) {//è pseudo codice perchè non ho capito come prendere il nodo dall'arraylist
* Debug.Log (nod.area.center3D);
* }
*
* graph.removenode (graph.nodes[1]);
* graph.printNodes ();
*
* list = n.connection;
* foreach (Node nod in list) {//è pseudo codice perchè non ho capito come prendere il nodo dall'arraylist
* Debug.Log (nod.area.center3D);
* }
*/
}
//private Vector3[] robots;
// Use this for initialization
void Start()
{
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
Graph graph = new Graph(aree);
Vector3[] robots = findtag("robot");
//findtag("robot");
Node[] nodes = cooperativesearch_paths(graph);
Debug.Log("Num areas: " + nodes.Length);
for (int i = 0; i < robots.Length && i < nodes.Length; i++)
{
createPoint(nodes[i].area.center3D);
ArrayList path = new ArrayList();
path.Add(nodes[i].area.center3D);
robotsObject [i].path = path;
}
for (int i = 0; i < robots.Length && i < nodes.Length; i++)
{
robotsObject [i].go = true;
}
}
// Use this for initialization
void Start()
{
robots = findtag("robot");
//positions = findtag("area");
Area[] aree = ConvexOverlapping.divideSpaceIntoArea();
positions = new Vector3[aree.Length];
for (int i = 0; i < aree.Length; i++)
{
positions[i] = aree[i].center3D;
}
vrpstart = fill(robots, positions);
numrobot = robots.Length;
numpos = positions.Length;
everyone = new Vector3[numpos + numrobot];
int j = 0;
for (int i = 0; i < numrobot; i++)
{
everyone[j] = robots[i];
j++;
}
for (int i = 0; i < numpos; i++)
{
everyone[j] = positions[i];
j++;
}
int[] vrp_actual = Shuffleint(vrpstart);
int[] vrp_bestfit = new int[vrp_actual.Length];
for (int i = 0; i < vrp_actual.Length; i++)
{
vrp_bestfit[i] = vrp_actual[i];
}
int actualfit = fit(vrp_actual);
int bestfit = actualfit;
for (int i = 0; i < iteration; i++)
{
vrp_actual = Shuffleint(vrp_actual);
actualfit = fit(vrp_actual);
if (actualfit < bestfit)
{
bestfit = actualfit;
//vrp_bestfit = vrp_actual;
for (int z = 0; z < vrp_actual.Length; z++)
{
vrp_bestfit[z] = vrp_actual[z];
}
}
}
//now maybe we have to draw the lines, or simply make them move in update
vrp_bestfit = rotateToRobot(vrp_bestfit);
string log = "";
for (int i = 0; i < vrp_bestfit.Length; i++)
{
log += vrp_bestfit[i] + " ";
createPoint((Vector3)everyone[vrp_bestfit[i]]);
}
Debug.Log(log);
int actual_robot = -1;
ArrayList path = new ArrayList();
for (int i = 0; i < (numpos + numrobot); i++)
{
if (vrp_bestfit[i] < numrobot)
{
//if it is a robot
if (actual_robot != -1)
{
robotsObject[actual_robot].path = path;
}
actual_robot = vrp_bestfit[i];
path = new ArrayList();
}
else
{
//if it is a area
path.Add(everyone[vrp_bestfit[i]]);
}
}
if (actual_robot != -1)
{
robotsObject[actual_robot].path = path;
}
foreach (MoveRobotDifferential rob in robotsObject)
{
rob.go = true;
}
}
