public static ProblemVacuum Import(string filePath)
{
StreamReader reader = new StreamReader(filePath);
string json = reader.ReadToEnd();
reader.Close();
ProblemVacuum map = JsonUtility.FromJson <ProblemVacuum>(json);
map.read_polygons(json);
return(map);
}
// Use this for initialization
void Start()
{
problem = ProblemVacuum.Import(problemPath);
bois = new List <MotionModelVacuum>();
points = new List <GameObject>();
spawnObjects();
prim = new Prims(problem.obstacles, problem.pointsOfInterest, scanningRadius);
List <float[]> goodpoints = prim.getNewPointsOfInterest();
som = new SOMVacuum(goodpoints, problem.startPositions, problem.goalPositions);
List <float[]> interestings = new List <float[]>();
interestings.AddRange(goodpoints);
interestings.AddRange(problem.goalPositions);
interestings.AddRange(problem.startPositions);
cooldown = waitTime;
vGraph = new VisibilityGraphVacuum(problem.obstacles, interestings);
drawRadius(cooldown, goodpoints);
Debug.Break();
}
