public Genetic(int numGenerations, int popSize, int mutationRate, int mutationFactor,
Navigation nav, int numParents, int maxSteps)
{
numGenerations_ = numGenerations;
popSize_ = popSize;
numParents_ = Math.Min(numParents, popSize_);
maxSteps_ = maxSteps;
mutationRate_ = mutationRate;
mutationFactor_ = mutationFactor;
nav_ = nav;
// Create the initial population
pop_ = new List<Organism>(popSize_);
for (int i = 0; i < popSize_; i++)
{
pop_.Add(new Organism(mutationFactor_));
}
curGen_ = 0;
curOrg_ = 0;
curStep_ = 0;
changedOrg_ = true;
}
// This function is called from the motion planner. It is
// used to check for collisions between an edge between
// nodes n1 and n2, and a wall segment.
// The function uses an iterative approach by moving along
// the edge a "safe" distance, defined to be the shortest distance
// to the wall segment, until the end of the edge is reached or
// a collision occurs.
public bool CollisionFound(Navigation.Node n1, Navigation.Node n2, double tol)
{
// Check that within boundaries
if (n2.x > maxWorkspaceX || n2.x < minWorkspaceX || n2.y > maxWorkspaceY || n2.y < minWorkspaceY)
return true;
// Check for collision with walls
double theta = Math.Atan2(n2.y - n1.y, n2.x - n1.x);
double edgeSize = Math.Sqrt(Math.Pow(n2.y - n1.y, 2) + Math.Pow(n2.x - n1.x, 2));
double sinTheta = Math.Sin(theta);
double cosTheta = Math.Cos(theta);
// Loop through segments
for (int segment = 0; segment < numMapSegments; segment++)
{
double distTravelledOnEdge = 0;
double ex = n1.x, ey = n1.y;
double distToSegment;
while (distTravelledOnEdge - tol < edgeSize)
{
distToSegment = GetWallDistance(ex, ey, segment, tol, n2.x, n2.y);
if (distToSegment - tol < 0.05)
return true;
ex += cosTheta * distToSegment;
ey += sinTheta * distToSegment;
distTravelledOnEdge += distToSegment;
}
}
return false;
}
public JaguarCtrl()
{
simulatedJaguar = new AxDDrRobotSentinel_Simulator();
navigation = new Navigation(this);
drRobotConnect = new DrRobotRobotConnection(this);
drRobotConnect.connectRobot();
robotCfg = drRobotConnect.robotConfig;
jaguarSetting = (RobotConfig.RobotConfigTableRow)robotCfg.RobotConfigTable.Rows[0];
InitializeComponent();
// Setup graphics for simulation
SetStyle(ControlStyles.OptimizedDoubleBuffer, false);
this.Paint += new System.Windows.Forms.PaintEventHandler(this.JaguarCtrl_Paint);
panelGE.Visible = false;
mapResolution = trackBarZoom.Value * zoomConstant;
// Start Simulated Sensor Update Thread
runSensorThread = true;
sensorThread = new Thread(runSensorLoop);
sensorThread.Start();
}
