public jumptoanchor(int _x, int _y, int _h, node _thisnode)
{
x = _x;
y = _y;
h = _h;
thisnode = _thisnode;
}
public void func_mle_dvhop()
{
double ci = func_mle_getci();
func_mle_searchpath(mle_testNode);
List<node> attendanchor = new List<node>();
List<double> d = new List<double>();
foreach (jumptoanchor temp_jump in mle_testNode.list_anchor)
{
d.Add(ci * temp_jump.h);
attendanchor.Add(temp_jump.thisnode);
}
//获得a矩阵
Matrix a = new Matrix(attendanchor.Count() - 1, 2);
for (int i = 0; i < attendanchor.Count() - 1; i++)
{
a[i, 0] = 2 * (attendanchor[i].X - attendanchor.Last().X);
a[i, 1] = 2 * (attendanchor[i].Y - attendanchor.Last().Y);
}
Matrix at = Matrix.transpose(a);
//获得b矩阵
Matrix b = new Matrix(attendanchor.Count() - 1, 1);
double temp_lastnodex2 = Math.Pow(attendanchor.Last().X, 2);
double temp_lastnodey2 = Math.Pow(attendanchor.Last().Y, 2);
for (int i = 0; i < attendanchor.Count() - 1; i++)
{
b[i, 0] = Math.Pow(attendanchor[i].X, 2) - temp_lastnodex2 + Math.Pow(attendanchor[i].Y, 2) - temp_lastnodey2 + Math.Pow(d.Last(), 2) - Math.Pow(d[i], 2);
}
Matrix atb = at * b;
Matrix ata = at * a;
Matrix ata_1 = Matrix.converse(ata);
if (ata_1 == null)
{
label_mle_dvHOP.Text = "锚点位置有误，无法计算位置。";
return;
}
Matrix x = ata_1 * atb;
node tempnode = new node();
tempnode.Location = new Point((int)x[0, 0], (int)x[1, 0]);
double wuchadouble = func_getDistence(tempnode, mle_testNode);
label_mle_dvHOP.Text = "DV-HOP法估计的坐标为：" + tempnode.X.ToString() + "," + tempnode.Y.ToString()
+ "\n实际坐标为：" + mle_testNode.X.ToString() + "," + mle_testNode.Y.ToString()
+ "\n误差为：" + wuchadouble.ToString("0.00");
}
//复制一个_tempnode节点的复件
public node(node _tempnode)
{
list_neighbour = _tempnode.list_neighbour;
list_anchor = _tempnode.list_anchor;
this.BackColor = _tempnode.BackColor;
this.Location = _tempnode.Location;
this.Size = _tempnode.Size;
this.ClientSize = _tempnode.ClientSize;
this.r = _tempnode.r;
this.type = _tempnode.type;
timer_changenodeposition = new Timer();
}
public double func_mle_jidasiran(node _node, int _wucha)
{
//用Random随机制造到所有锚点的距离（有误差）储存在d中
Random temp_random = new Random();
List<double> d = new List<double>();
foreach (node temp_node in mle_anchorList)
{
d.Add(func_getDistence(_node, temp_node) + (temp_random.NextDouble() - 0.5) * _wucha * 2);
}
//获得a矩阵
Matrix a = new Matrix(mle_anchorList.Count() - 1, 2);
for (int i = 0; i < mle_anchorList.Count() - 1; i++)
{
a[i, 0] = 2 * (mle_anchorList[i].X - mle_anchorList.Last().X);
a[i, 1] = 2 * (mle_anchorList[i].Y - mle_anchorList.Last().Y);
}
Matrix at = Matrix.transpose(a);
//获得b矩阵
Matrix b = new Matrix(mle_anchorList.Count() - 1, 1);
double temp_lastnodex2 = Math.Pow(mle_anchorList.Last().X, 2);
double temp_lastnodey2 = Math.Pow(mle_anchorList.Last().Y, 2);
for (int i = 0; i < mle_anchorList.Count() - 1; i++)
{
b[i, 0] = Math.Pow(mle_anchorList[i].X, 2) - temp_lastnodex2 + Math.Pow(mle_anchorList[i].Y, 2) - temp_lastnodey2 + Math.Pow(d.Last(), 2) - Math.Pow(d[i], 2);
}
Matrix atb = at * b;
Matrix ata = at * a;
Matrix ata_1 = Matrix.converse(ata);
if (ata_1 == null)
{
label_mle_mleAnswer.Text = "锚点位置有误，无法计算位置。";
return -1;
}
Matrix x = ata_1 * atb;
node tempnode = new node();
tempnode.Location = new Point((int)x[0, 0], (int)x[1, 0]);
double wuchadouble = func_getDistence(tempnode, _node);
label_mle_mleAnswer.Text = "极大似然法估计的坐标为：" + tempnode.X.ToString() + "," + tempnode.Y.ToString()
+ "\n实际坐标为：" + _node.X.ToString() + "," + _node.Y.ToString()
+ "\n误差为：" + wuchadouble.ToString("0.00");
return wuchadouble;
}
public double func_mle_zhixindingwei(node _node)
{
node tempnode = new node();
int zhixinx = 0, zhixiny = 0;
int temp_nodecount = 0;
foreach (node temp_node in mle_anchorList)
{
if (func_getDistence(temp_node, _node) < _node.r)
{
zhixinx += temp_node.X;
zhixiny += temp_node.Y;
temp_nodecount++;
}
}
if (temp_nodecount == 0)
{
label_mle_cl.Text = "当前范围内未找到节点，无法估计位置。";
return -1;
}
zhixinx /= temp_nodecount;
zhixiny /= temp_nodecount;
tempnode.Location = new Point(zhixinx, zhixiny);
double wuchadouble = func_getDistence(tempnode, _node);
label_mle_cl.Text = "质心定位法估计的坐标为：" + tempnode.X.ToString() + "," + tempnode.Y.ToString()
+ "\n实际坐标为：" + _node.X.ToString() + "," + _node.Y.ToString()
+ "\n误差为：" + wuchadouble.ToString("0.00");
return wuchadouble;
}
private void event_button_mle_start_Click(object sender, EventArgs e)
{
int mle_nodeNumber;
int mle_anchorNumber;
int mle_nodeR;
if (mle_anchorList == null)
{
mle_anchorList = new List<node>();
}
if (mle_nodeList == null)
{
mle_nodeList = new List<node>();
}
//清空
mle_nodeList.Clear();
mle_anchorList.Clear();
panel_mle_mainArea.Controls.Clear();
try
{
mle_anchorNumber = int.Parse(textBox_mle_anchorNumber.Text);
mle_maxTolerance = int.Parse(textBox_mle_tolerance.Text);
mle_nodeNumber = int.Parse(textBox_mle_normalNumber.Text);
mle_nodeR = int.Parse(textBox_mle_nodeR.Text);
}
catch
{
wrongTip_mle_input.Show();
return;
}
Point test_point;
for (int i = 0; i < mle_anchorNumber; i++)
{
test_point = func_mle_getARandomPoint();
node mle_tempNode = new node(test_point.X, test_point.Y, mle_nodeR, node.nodeType.anchor);
func_mle_addNode(mle_tempNode);
}
for (int i = 0; i < mle_nodeNumber; i++)
{
test_point = func_mle_getARandomPoint();
node mle_tempNode = new node(test_point.X, test_point.Y, mle_nodeR, node.nodeType.normal);
func_mle_addNode(mle_tempNode);
}
test_point = func_mle_getARandomPoint();
mle_testNode = new node(test_point.X, test_point.Y, mle_nodeR, node.nodeType.test);
mle_testNode.BackColor = Color.AliceBlue;
func_mle_addNode(mle_testNode);
this.Refresh();
}
public void func_mle_addNode(node _temp_node)
{
_temp_node.MouseDown += event_node_MouseDown;
_temp_node.MouseUp += event_node_MouseUp;
if (_temp_node.type == node.nodeType.normal)
{
_temp_node.BackColor = Color.DarkOrange;
mle_nodeList.Add(_temp_node);
}
else if (_temp_node.type == node.nodeType.anchor)
{
mle_anchorList.Add(_temp_node);
_temp_node.BackColor = Color.DarkCyan;
}
else
{
_temp_node.BackColor = Color.DarkRed;
}
panel_mle_mainArea.Controls.Add(_temp_node);
}
private void timer_flooding_onceJump_Tick(object sender, EventArgs e)
{
if (flooding_lastStartNode == null || flooding_lastEndNode == null)
{
flooding_lastStartNode = flooding_startNode;
flooding_lastEndNode = flooding_endNode;
}
else
{
if (flooding_startNode != flooding_lastStartNode || flooding_endNode != flooding_lastEndNode)
{
foreach (node temp_node in flooding_nodeList)
{
temp_node.BackColor = Color.DarkGray;
}
flooding_startNode.BackColor = Color.Blue;
flooding_endNode.BackColor = Color.Green;
flooding_tickNode = new List<node>();
flooding_tickNode.Add(flooding_startNode);
flag_flooding_isfound = false;
flooding_lastStartNode = flooding_startNode;
flooding_lastEndNode = flooding_endNode;
}
}
if (flag_flooding_isfound)
{
foreach (node temp_node in flooding_nodeList)
{
temp_node.BackColor = Color.DarkGray;
}
flooding_startNode.BackColor = Color.Blue;
flooding_endNode.BackColor = Color.Green;
timer_flooding_onceJump.Stop();
flooding_tickNode = new List<node>();
flooding_tickNode.Add(flooding_startNode);
flag_flooding_isfound = false;
return;
}
List<node> flooding_temp_nodeList = new List<node>();
if (flooding_tickNode == null)
{
flooding_tickNode = new List<node>();
flooding_tickNode.Add(flooding_startNode);
}
foreach (node temp_node in flooding_tickNode)
{
foreach (node temp_nei_node in temp_node.list_neighbour)
{
if (!flooding_temp_nodeList.Contains(temp_nei_node))
flooding_temp_nodeList.Add(temp_nei_node);
temp_nei_node.BackColor = Color.Orange;
if (temp_nei_node == flooding_endNode)
flag_flooding_isfound = true;
}
}
//this.Refresh();
foreach (node temp_node in flooding_tickNode)
{
temp_node.BackColor = Color.DarkRed;
}
flooding_startNode.BackColor = Color.Blue;
flooding_endNode.BackColor = Color.Green;
flooding_tickNode = flooding_temp_nodeList;
}
private void button_flooding_rebuild_Click(object sender, EventArgs e)
{
panel_flooding_mainArea.Controls.Clear();
flooding_nodeList.Clear();
button_flooding_start.PerformClick();
timer_flooding_onceJump.Stop();
flooding_tickNode = null;
flag_flooding_isfound = false;
flooding_endNode = null;
flooding_startNode = null;
}
public void func_flooding_createNodeList(int _numebr, int _r, Rectangle _sensorArea)
{
Random temp_random = new Random();
List<node> temp_flooding_nodeList = new List<node>();
for (int i = 0; i < _numebr; i++)
{
int temp_x = temp_random.Next(_sensorArea.Width);
int temp_y = temp_random.Next(_sensorArea.Height);
node temp_node = new node(temp_x, temp_y, _r, node.nodeType.normal);
temp_node.MouseDown += event_node_MouseDown;
temp_node.MouseUp += event_node_MouseUp;
temp_flooding_nodeList.Add(temp_node);
}
flooding_nodeList = temp_flooding_nodeList;
}
public void func_flooding_getPath()
{
flooding_jumpTime = 0;
if (flooding_BFS_queue == null)
{
flooding_BFS_queue = new List<node>();
}
flooding_BFS_queue.Clear();
flooding_BFS_queue.Add(flooding_startNode);
foreach (node temp_node in flooding_nodeList)
{
temp_node.bufferNode = null;
if (temp_node != flooding_startNode && temp_node != flooding_endNode)
temp_node.BackColor = Color.DarkGray;
}
if (flooding_startNode == flooding_endNode)
{
label_flooding_answer.Text = "一共需要0跳";
return;
}
func_flooding_searchPath();
if (flooding_endNode.bufferNode == null)
{
label_flooding_answer.Text = "找不到路径";
return;
}
node beforenode = flooding_endNode;
beforenode.BringToFront();
while (beforenode != flooding_startNode)
{
if (beforenode != flooding_startNode && beforenode != flooding_endNode)
beforenode.BackColor = Color.DarkOrange;
beforenode.BringToFront();
beforenode = beforenode.bufferNode;
flooding_jumpTime++;
}
node temp_flooding_startNode = new node(flooding_startNode);
label_flooding_answer.Text = "一共需要" + flooding_jumpTime.ToString() + "跳";
}
private void button_flooding_start_Click(object sender, EventArgs e)
{
int temp_flooding_nodeNumber;
int temp_flooding_R;
if (flooding_nodeList == null)
{
flooding_nodeList = new List<node>();
}
//读入数据
try
{
temp_flooding_nodeNumber = int.Parse(textBox_flooding_pointNumber.Text);
temp_flooding_R = int.Parse(textBox_flooding_R.Text);
if (temp_flooding_nodeNumber < 1 || temp_flooding_R < 3)
throw new Exception();
}
catch
{
wrongTip_flooding_tip3.Show();
return;
}
label_flooding_answer.Text = "";
foreach (node temp_node in flooding_nodeList)
{
temp_node.BackColor = Color.DarkGray;
}
//如果要求节点数与原节点数不同则随机生成节点
if (flooding_nodeList.Count != temp_flooding_nodeNumber)
{
flooding_startNode = null;
flooding_endNode = null;
panel_flooding_mainArea.Controls.Clear();
flooding_nodeList.Clear();
func_flooding_createNodeList(temp_flooding_nodeNumber, temp_flooding_R, new Rectangle(new Point(0, 0), panel_flooding_mainArea.Size));
foreach (node temp_node in flooding_nodeList)
{
temp_node.MouseDown += event_node_MouseDown;
temp_node.MouseUp += event_node_MouseUp;
temp_node.Click += event_hideSideMenu;
}
}
foreach (node temp_node in flooding_nodeList)
{
temp_node.changer(temp_flooding_R);
temp_node.bufferNode = null;
this.panel_flooding_mainArea.Controls.Add(temp_node);
}
func_flooding_setLink();
if (flooding_startNode != null && flooding_endNode != null)
{
flooding_startNode.BackColor = Color.Blue;
flooding_endNode.BackColor = Color.Green;
if (checkBox_flooding_onceJump.Checked)
timer_flooding_onceJump.Start();
else
func_flooding_getPath();
}
}
private void event_node_MouseDown(object sender, MouseEventArgs e)
{
moving = (node)sender;
Point temp_location = ((node)sender).Location;
dx = temp_location.X - MousePosition.X;
dy = temp_location.Y - MousePosition.Y;
if (nowShowingPanel == mainPanel.flooding)
{
#region flooding
timer_changeNodePosition.Start();
if (e.Button == MouseButtons.Left)
{
if (flooding_startNode != null)
{
flooding_startNode.BackColor = Color.DarkGray;
}
if (flooding_endNode != null)
flooding_endNode.BackColor = Color.Green;
((node)sender).BackColor = Color.Blue;
((node)sender).BringToFront();
flooding_startNode = (node)sender;
}
if (e.Button == MouseButtons.Right)
{
if (flooding_endNode != null)
flooding_endNode.BackColor = Color.DarkGray;
if (flooding_startNode != null)
flooding_startNode.BackColor = Color.Blue;
((node)sender).BackColor = Color.Green;
((node)sender).BringToFront();
flooding_endNode = (node)sender;
}
if (flooding_startNode != null && flooding_endNode != null)
{
if (checkBox_flooding_onceJump.Checked)
timer_flooding_onceJump.Start();
else
func_flooding_getPath();
}
#endregion
return;
}
timer_changeNodePosition.Start();
}
public double func_getDistence(node _nodea, node _nodeb)
{
double distence = (Math.Pow((_nodea.Location.X - _nodeb.Location.X), 2)) + (Math.Pow((_nodea.Location.Y - _nodeb.Location.Y), 2));
distence = Math.Sqrt(distence);
return distence;
}
//消除节点数据痕迹
public void func_mle_clearnodeimformation(node _node)
{
_node.list_neighbour.Clear();
_node.list_anchor.Clear();
_node.bufferNode = null;
_node.jumptimes = -1;
}
//搜索_start节点到所有可到达锚点的最小跳数
public void func_mle_searchpath(node _start)
{
func_mle_setlink();
List<node> nowmovingpath = new List<node>();
foreach (node temp_node in mle_anchorList)
{
temp_node.jumptimes = -1;
}
foreach (node temp_node in mle_nodeList)
{
temp_node.jumptimes = -1;
}
_start.jumptimes = -1;
nowmovingpath.Add(_start);
int jumptimes = 0;
while (nowmovingpath.Count != 0)
{
jumptimes++;
List<node> temp_searchlist = new List<node>();
foreach (node temp_node in nowmovingpath)
{
foreach (node temp_node_j in temp_node.list_neighbour)
{
if (temp_node_j.jumptimes == -1)
{
temp_node_j.bufferNode = temp_node;
temp_node_j.jumptimes = jumptimes;
temp_searchlist.Add(temp_node_j);
}
}
}
nowmovingpath = temp_searchlist;
}
foreach (node temp_node in mle_anchorList)
{
if (temp_node.jumptimes != -1)
{
jumptoanchor temp_anchor = new jumptoanchor(temp_node.X, temp_node.Y, temp_node.jumptimes, temp_node);
_start.list_anchor.Add(temp_anchor);
}
}
}
