/// <summary>
/// Iteration on explored map
/// </summary>
/// <returns>action for robot to perform</returns>
private ActionType Phase2Iteration()
{
Tile[,] map = SmallMap;
Point currentPos = CurrentPos, temp;
//Greedy algorithm to choose next tile
NeighbourAction[] actions = new NeighbourAction[4];
NeighbourActions.CopyTo(actions, 0);
actions[0].LastVisit = map[currentPos.Row - 1, currentPos.Col].LastVisit;
actions[1].LastVisit = map[currentPos.Row, currentPos.Col + 1].LastVisit;
actions[2].LastVisit = map[currentPos.Row + 1, currentPos.Col].LastVisit;
actions[3].LastVisit = map[currentPos.Row, currentPos.Col - 1].LastVisit;
System.Array.Sort(actions);
for (int i = 0; i < 4; ++i)
{
temp = currentPos + actions[i].Offset;
if ((map[temp.Row, temp.Col].State & TileStates.Wall) == 0)
{
CurrentPos = temp;
return(actions[i].Action);
}
}
return(ActionType.actIDLE);
}
/// <summary>
/// Iteration on explored map
/// </summary>
/// <returns>action for robot to perform</returns>
private ActionType Phase2Iteration()
{
Tile[,] map = SmallMap;
Point currentPos = CurrentPos, temp;
//Trying to use dirt exptectation to pause the robot sometimes and save some energy
bool needIteration = false;
for (int row = 0; row < Environment.mazeSize_; ++row)
{
for (int col = 0; col < Environment.mazeSize_; ++col)
{
if ((map[row, col].State & TileStates.Wall) == 0 && CurrentIteration - map[row, col].LastVisit +
(currentPos.ManhattanDistance(row, col) * DistanceFactor) > DirtExpectation)
{
needIteration = true;
}
}
}
if (!needIteration)
{
return(ActionType.actIDLE);
}
//Greedy algorithm to choose next tile
NeighbourAction[] actions = new NeighbourAction[4];
NeighbourActions.CopyTo(actions, 0);
actions[0].LastVisit = map[currentPos.Row - 1, currentPos.Col].LastVisit;
actions[1].LastVisit = map[currentPos.Row, currentPos.Col + 1].LastVisit;
actions[2].LastVisit = map[currentPos.Row + 1, currentPos.Col].LastVisit;
actions[3].LastVisit = map[currentPos.Row, currentPos.Col - 1].LastVisit;
System.Array.Sort(actions);
for (int i = 0; i < 4; ++i)
{
temp = currentPos + actions[i].Offset;
if ((map[temp.Row, temp.Col].State & TileStates.Wall) == 0)
{
CurrentPos = temp;
return(actions[i].Action);
}
}
return(ActionType.actIDLE);
}
/// <summary>
/// Iteration on explored map
/// </summary>
/// <returns>action for robot to perform</returns>
private ActionType Phase2Iteration()
{
Tile[,] map = SmallMap;
Point currentPos = CurrentPos, temp;
//Trying to use dirt exptectation to pause the robot sometimes and save some energy
bool needIteration = false;
for (int row = 0; row < Environment.mazeSize_; ++row)
for (int col = 0; col < Environment.mazeSize_; ++col)
if ((map[row, col].State & TileStates.Wall) == 0 && CurrentIteration - map[row, col].LastVisit +
(currentPos.ManhattanDistance(row, col) * DistanceFactor) > DirtExpectation)
needIteration = true;
if (!needIteration)
return ActionType.actIDLE;
//Greedy algorithm to choose next tile
NeighbourAction[] actions = new NeighbourAction[4];
NeighbourActions.CopyTo(actions, 0);
actions[0].LastVisit = map[currentPos.Row - 1, currentPos.Col].LastVisit;
actions[1].LastVisit = map[currentPos.Row, currentPos.Col + 1].LastVisit;
actions[2].LastVisit = map[currentPos.Row + 1, currentPos.Col].LastVisit;
actions[3].LastVisit = map[currentPos.Row, currentPos.Col - 1].LastVisit;
System.Array.Sort(actions);
for (int i = 0; i < 4; ++i)
{
temp = currentPos + actions[i].Offset;
if ((map[temp.Row, temp.Col].State & TileStates.Wall) == 0)
{
CurrentPos = temp;
return actions[i].Action;
}
}
return ActionType.actIDLE;
}
/// <summary>
/// Iteration on explored map
/// </summary>
/// <returns>action for robot to perform</returns>
private ActionType Phase2Iteration()
{
Tile[,] map = SmallMap;
Point currentPos = CurrentPos, temp;
//Greedy algorithm to choose next tile
NeighbourAction[] actions = new NeighbourAction[4];
NeighbourActions.CopyTo(actions, 0);
actions[0].LastVisit = map[currentPos.Row - 1, currentPos.Col].LastVisit;
actions[1].LastVisit = map[currentPos.Row, currentPos.Col + 1].LastVisit;
actions[2].LastVisit = map[currentPos.Row + 1, currentPos.Col].LastVisit;
actions[3].LastVisit = map[currentPos.Row, currentPos.Col - 1].LastVisit;
System.Array.Sort(actions);
for (int i = 0; i < 4; ++i)
{
temp = currentPos + actions[i].Offset;
if ((map[temp.Row, temp.Col].State & TileStates.Wall) == 0)
{
CurrentPos = temp;
return actions[i].Action;
}
}
return ActionType.actIDLE;
}
