private void computeAstar(Vector3 goalPosition)
{
this.goalPosition = goalPosition;
this.goalPosition.y = model.getVehicle().transform.position.y; // keep closeness-to-the-goal-control in 2D
/* compute Astar */
pathFinder = new Astar(MyUtils.precisionAstar, MyUtils.droneRadius, false);
if (pathFinder.setNewTargetPosition(goalPosition) == true) //set the target for A* algorithm
{
pathFinder.AstarBestPathFrom(model.getVehicle().transform.position);
path = pathFinder.getSolution();
en = path.GetEnumerator();
en.MoveNext();
isPathInProgress = true;
//path = Chromosome.allPairPathsMatrix[CHromo,];
}
else
{
Debug.Log("Target position unreachable");
}
if (path == null)
{
Debug.Log("Astar failed!");
}
}
/* Computes all pairs distances between drones and customers in order
* to be used later by the computing fitness function */
private static void computeAllPairDistancesAndPaths()
{
allPairDistancesMatrix = new float[Ngenes, Ngenes];
allPairPathsMatrix = new LinkedList <Vector3> [Ngenes, Ngenes];
Astar pathFinder = new Astar(0.1f, 0.5f);
Vector3 pt1, pt2;
for (int i = 0; i < Ngenes; i++)
{
allPairDistancesMatrix[i, i] = 0.0f;
for (int z = i + 1; z < Ngenes; z++)
{
pt1 = positionAtIndex(i);
pt2 = positionAtIndex(z);
if (pathFinder.setNewTargetPosition(pt2) == true)
{
float solutionCost = 0;
pathFinder.AstarBestPathFrom(pt1);
LinkedList <Vector3> path = pathFinder.getSolution();
allPairDistancesMatrix[i, z] = pathFinder.getSolutionCost();
allPairDistancesMatrix[z, i] = pathFinder.getSolutionCost();
allPairPathsMatrix[i, z] = path;
allPairPathsMatrix[z, i] = path;
}
}
}
/* String str = "";
* for (int i=0; i<Ngenes; i++) {
* for (int z=0; z<Ngenes; z++) {
* str+=allPairDistancesMatrix[i,z]+" ";
* }
* str+="\n";
* }
* Debug.Log (str);*/
}
