private void DStarLiteForm_Paint(object sender, PaintEventArgs e)
{
mymap = new Grid_Map(Map_column, Map_row, 20, 20, e.Graphics);
e.Graphics.DrawImage(Map_Background, 0, 0, 800, 800);
//Console.WriteLine("Text:" + Option_List.Text);
mymap.begin();
if (Path_Done == true && Show_Path == true)
{
if (My_D_Star_Lite.Get_U_ID_List.Count > 0)
{
float width = (float)0.30;
float heigh = (float)0.30;
foreach (int Node in My_D_Star_Lite.Get_U_ID_List)
{
//mymap.Node_Highlight(Node, Color.Blue);
if (Node > -1)
{
mymap.Add_Object_Ratio(Closed_Nodes, Node, width, heigh);
}
}
}
for (int i = 0; i < Path.Count; i++)
{
//Console.WriteLine("Node in Path: " + Path[i]);
float width = (float)0.3;
float heigh = (float)0.3;
mymap.Add_Object_Ratio(Path_Node, (int)Path[i], width, heigh);
}
for (int i = 0; i < Path.Count; i++)
{
mymap.Show_Path(Path, false);
}
}
for (int i = 0; i < Obstacle_List.Count; i++)
{
mymap.Node_Highlight((int)Obstacle_List[i], Color.Black);
}
for (int i = 0; i < New_Obstacle_List.Count; i++)
{
float width = (float)0.5;
float heigh = (float)0.5;
mymap.Add_Object_Ratio(New_Obs, (int)New_Obstacle_List[i], width, heigh);
}
mymap.Add_Object(Robot, Start_Point, 20, 20);
mymap.Add_Object(Target, Goal_Point, 20, 20);
}
private void SimulationAlgorithm_Paint(object sender, PaintEventArgs e)
{
mymap = new Grid_Map(Map_column, Map_row, 20, 20, e.Graphics);
e.Graphics.DrawImage(Map_Background, 0,0,780,780);
mymap.begin();
if (Show_Path == true)
{
//mymap.Show_Path(My_A_Star.Closed_Nodes, true);
}
if (Path_Done == true && Show_Path == true)
{
if (My_D_Star.Get_Closed_Nodes.Count > 0 && My_D_Star.Get_ReOpen_Nodes.Count == 0)//First search, so there is no reopen nodes
{
float width = (float)0.30;
float heigh = (float)0.30;
foreach (int Node in My_D_Star.Get_Closed_Nodes)
{
//mymap.Node_Highlight(Node, Color.Blue);
mymap.Add_Object_Ratio(Closed_Nodes, Node, width, heigh);
}
}
if (My_D_Star.Get_ReOpen_Nodes.Count > 0)// afeter detecting an obstacle, update node. Only display nodes which are reopened to calculate again
{
float width = (float)0.3;
float heigh = (float)0.3;
foreach (int Node in My_D_Star.Get_ReOpen_Nodes)
{
//mymap.Node_Highlight(Node, Color.Green);
mymap.Add_Object_Ratio(Closed_Nodes, Node, width, heigh);
}
}
for (int i = 0; i < Path.Count; i++)
{
Console.WriteLine("Node in Path: " + Path[i]);
float width = (float)0.3;
float heigh = (float)0.3;
mymap.Add_Object_Ratio(Path_Node, (int)Path[i], width, heigh);
}
for (int i = 0; i < Path.Count; i++)
{
mymap.Show_Path(Path, false);
}
}
for (int i = 0; i < Obstacle_List.Count; i++)
{
mymap.Node_Highlight((int)Obstacle_List[i], Color.Black);
}
for (int i = 0; i < New_Obstacle_List.Count; i++)
{
float width = (float)0.5;
float heigh = (float)0.5;
mymap.Add_Object_Ratio(New_Obs, (int)New_Obstacle_List[i], width, heigh);
}
mymap.Add_Object(Robot, Start_Point, 25, 25);
mymap.Add_Object(Target, Goal_Point, 35, 35);
}