// Use this for initialization
void Start()
{
goForward = false;
goRotation = false;
targetFound = false;
tempReached = false;
rPL = GetComponent <RobotPlanning>();
}
// Use this for initialization
void Start()
{
isTheChosenOne = true;
filePathPosResNum = Application.dataPath + pathPosNum;
if (File.Exists(filePathPosResNum))
{
fileContent = File.ReadAllText(filePathPosResNum);
trajectory = JsonUtility.FromJson <JsonRobotData>(fileContent);
Debug.Log(trajectory.time);
filePos.Close();
if (trajectory.time == 0.0f)
{
CheckIteration();
}
}
alpha = startingAlpha;
beta = startingBeta;
if (alpha + beta < 1f)
{
CheckIteration();
}
timer = Timer();
robot = GameObject.Find("Robot");
robotScript = robot.GetComponent <Robot>();
rPl = robot.GetComponent <RobotPlanning>();
rP = robot.GetComponent <RobotProgress>();
rDMUtility = robot.GetComponent <RobotDMUtilityCloseWall>();
rDMUtility.alpha = startingAlpha;
rDMUtility.beta = startingBeta;
robotScript.forgettingFactor = forgettingFactor[startingDelta];
rP.pathMapNum = pathMapNum + iteration.ToString() + ".json";
rP.pathPosNum = pathPosNum + iteration.ToString() + ".json";
alpha = startingAlpha;
beta = startingBeta;
deltaIndex = startingDelta;
//robotScript.SetVariables();
rP.DefiningFolderAndFile();
rP.SetAlpha(alpha);
rP.SetBeta(beta);
rP.SetDelta(forgettingFactor[deltaIndex]);
rP.SetMapName(mapName);
Debug.Log(rDMUtility.alpha);
Debug.Log(rDMUtility.beta);
Debug.Log(robotScript.forgettingFactor);
StartCoroutine(timer);
}
// Use this for initialization
void Start()
{
finished = false;
pointToReach = ChoosingPointToReach();
sendingRays = SendingRays();
//noPath = false;
targetFound = false;
rC = GetComponent <RobotConnection>();
rDM = GetComponent <RobotDecisionMaking>();
rM = GetComponent <RobotMovement>();
rP = GetComponent <RobotProgress>();
rPl = GetComponent <RobotPlanning>();
rPl.range = rangeRays;
landingRay.Add(new Ray(transform.position, Vector3.forward));
angle = angleRay;
InitializeRays();
}
private void OnLevelWasLoaded(int level)
{
if (!isTheChosenOne)
{
Destroy(this.gameObject);
}
else
{
iteration = 1 + iteration;
if (alpha < maxAlpha)
{
alpha = 0.1f + alpha;
}
else if (beta < maxBeta)
{
beta = 0.1f + beta;
alpha = minAlpha;
}
else if (deltaIndex < maxDeltaIndex)
{
deltaIndex = deltaIndex + 1;
alpha = minAlpha;
beta = minBeta;
}
filePathPosResNum = Application.dataPath + pathPosNum;
if (File.Exists(filePathPosResNum))
{
fileContent = File.ReadAllText(filePathPosResNum);
trajectory = JsonUtility.FromJson <JsonRobotData>(fileContent);
Debug.Log(trajectory.time);
filePos.Close();
if (trajectory.time == 0.0f)
{
CheckIteration();
}
}
if (alpha + beta < 1f)
{
CheckIteration();
}
timer = Timer();
robot = GameObject.Find("Robot");
robotScript = robot.GetComponent <Robot>();
rPl = robot.GetComponent <RobotPlanning>();
rP = robot.GetComponent <RobotProgress>();
rDMUtility = robot.GetComponent <RobotDMUtilityCloseWall>();
rDMUtility.alpha = alpha;
rDMUtility.beta = beta;
robotScript.forgettingFactor = forgettingFactor[deltaIndex];
rP.pathMapNum = pathMapNum + iteration.ToString() + ".json";
rP.pathPosNum = pathPosNum + iteration.ToString() + ".json";
//robotScript.SetVariables();
rP.DefiningFolderAndFile();
rP.SetAlpha(alpha);
rP.SetBeta(beta);
rP.SetDelta(forgettingFactor[deltaIndex]);
rP.SetMapName(mapName);
Debug.Log(alpha);
Debug.Log(beta);
Debug.Log(forgettingFactor[deltaIndex]);
StartCoroutine(timer);
}
}
private void Start()
{
candidatePath = new List <Vector3>();
rPL = GetComponent <RobotPlanning>();
}
