//private void EditorModeValueChanged(object sender, RoutedEventArgs e)
//{
// RadioButton radioButton = sender as RadioButton;
// if (radioButton.IsChecked.Value)
// {
// mouseSelector.EditorMode = true;
// }
// else
// {
// mouseSelector.EditorMode = false;
// }
// pathFinder.Reset(dragCanvas);
//}
private void GenerateButton_Click(object sender, RoutedEventArgs e)
{
if (!configuartionSpaceInitialized)
{
colliderContainer.GenerateAnglesArray(robot, dragCanvas, segmentsIntersector);
IntializeConfigurationSpace();
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
PostInitialize();
configuartionSpaceInitialized = true;
SwitchToPathfindingButton.IsEnabled = true;
return;
}
configurationSpace.Reset();
colliderContainer.Reset(dragCanvas);
colliderContainer.GenerateAnglesArray(robot, dragCanvas, segmentsIntersector);
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
}
public void MoveRobot(Point start, Point end, Strategy strategy = Strategy.First)
{
//ShowSelectedPosition(start);
//ShowSelectedPosition(end);
Point startAngles = new Point(), endAngles = new Point();
if (strategy == Strategy.First)
{
startAngles = robot.CalculateInverseKinematicsFirst(start.X, start.Y);
endAngles = robot.CalculateInverseKinematicsFirst(end.X, end.Y);
}
else if (strategy == Strategy.Second)
{
startAngles = robot.CalculateInverseKinematicsSecond(start.X, start.Y);
endAngles = robot.CalculateInverseKinematicsSecond(end.X, end.Y);
}
else if (strategy == Strategy.Third)
{
startAngles = robot.CalculateInverseKinematicsFirst(start.X, start.Y);
endAngles = robot.CalculateInverseKinematicsSecond(end.X, end.Y);
}
else if (strategy == Strategy.Fourth)
{
startAngles = robot.CalculateInverseKinematicsSecond(start.X, start.Y);
endAngles = robot.CalculateInverseKinematicsFirst(end.X, end.Y);
}
if (Double.IsNaN(startAngles.X) || Double.IsNaN(startAngles.Y) || Double.IsNaN(endAngles.X) || Double.IsNaN(endAngles.Y))
{
MessageBox.Show("Chosen points cannot be reached by robot.");
return;
}
//Convert from radians to euler
startAngles.X *= 180.0f / Math.PI;
startAngles.Y *= 180.0f / Math.PI;
endAngles.X *= 180.0f / Math.PI;
endAngles.Y *= 180.0f / Math.PI;
//transform angles to span from 0 to 360
startAngles.X = (int)(startAngles.X + 360) % 360;
startAngles.Y = (int)(startAngles.Y + 360) % 360;
endAngles.X = (int)(endAngles.X + 360) % 360;
endAngles.Y = (int)(endAngles.Y + 360) % 360;
configurationSpace.Reset();
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
bool success = configurationSpace.FloodFill(startAngles, endAngles);
if (success)
{
configurationSpace.ColorFill();
path = configurationSpace.TraverseBack(startAngles, endAngles);
configurationSpace.Update();
linearInterpolator.Setup(path);
linearInterpolator.startTime = DateTime.Now;
timer.Start();
}
else if (strategy == Strategy.First)
{
MoveRobot(start, end, Strategy.Second);
}
else if (strategy == Strategy.Second)
{
MoveRobot(start, end, Strategy.Third);
}
else if (strategy == Strategy.Third)
{
MoveRobot(start, end, Strategy.Fourth);
}
else
{
MessageBox.Show("Chosen points cannot be reached by robot.");
}
}
private void IntializeConfigurationSpace()
{
configurationSpace = new ConfigurationSpace();
configurationSpace.Init(Image);
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
}
private void IntializeConfigurationSpace()
{
configurationSpace = new ConfigurationSpace();
configurationSpace.Init(Image);
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
}