public void SetState(Tracker tracker)
{
this.x = tracker.X;
this.y = tracker.Y;
this.angle = tracker.Angle;
}
public void Initialize(Robot robot)
{
// Initialize particles
particles = new List<Particle>(configuration.NumberOfParticles);
for (int i = 0; i < configuration.NumberOfParticles; i++)
{
switch (robot.ExpectedZone)
{
case Robot.Zone.Starting:
particles.Add(new Particle(field,
configuration.WallMargin + MathHelper.random.NextDouble() * (ObstacleX - 2.0 * configuration.WallMargin),
configuration.WallMargin + MathHelper.random.NextDouble() * (FieldHeight - 2.0 * configuration.WallMargin),
MathHelper.random.NextDouble() * 360.0));
break;
case Robot.Zone.Mining:
particles.Add(new Particle(field,
DigX + configuration.WallMargin + MathHelper.random.NextDouble() * (DigX - 2.0 * configuration.WallMargin),
configuration.WallMargin + MathHelper.random.NextDouble() * (FieldHeight - 2.0 * configuration.WallMargin),
MathHelper.random.NextDouble() * 360.0));
break;
case Robot.Zone.Unknown:
particles.Add(new Particle(field,
configuration.WallMargin + MathHelper.random.NextDouble() * (FieldWidth - 2.0 * configuration.WallMargin),
configuration.WallMargin + MathHelper.random.NextDouble() * (FieldHeight - 2.0 * configuration.WallMargin),
MathHelper.random.NextDouble() * 360.0));
break;
default:
break;
}
}
// Update tracker
tracker = new Tracker();
tracker.FindCenter(particles);
}