public WorldObject CreateWalkerObj(World world, Point point, bool isCleaner = false)
{
var camera = _walkerCamera ?? InitializeWalkerCamera(world);
var behavior = new WanderStrategy(_random)
{
ElevateProb = 0,
TranslateProb = 0.8,
RotateProb = 0.1,
IsExact = true
};
var model = isCleaner ? new Cleaner(camera, behavior) : new Walker(camera, behavior);
int orientation = _random.Next(0, 4) * 90;
var obj = new WorldObject(model, Size, point, orientation);
return(obj);
}
public WorldObject CreateRobotObj(World world, Point point)
{
var camera = _robotCamera ?? InitializeRobotCamera(world);
NavigationSystem nav;
IStrategy strategy;
if (Settings != null)
{
nav = new NavigationSystem(world)
{
ElevationStd = Settings.EstimatedElevationStd,
RotationStd = Settings.EstimatedRotationStd,
TranslationStd = Settings.EstimatedTranslationStd,
MeasurementSuccessProb = Settings.EstimatedCameraSuccessProb
};
strategy = new WanderStrategy(_random)
{
ElevateProb = Settings.DecideElevateProb,
TranslateProb = Settings.DecideTranslateProb,
RotateProb = Settings.DecideRotateProb,
IsExact = false,
Settings = Settings
};
}
else
{
nav = new NavigationSystem(world);
strategy = new WanderStrategy(_random)
{
IsExact = false
};
}
var model = new Robot(camera, nav, strategy);
int orientation = _random.Next(0, 4) * 90;
var obj = new WorldObject(model, Size, point, orientation);
return(obj);
}