public HexaPath ConvertToPath(AgentMotionSequence sequence, HexaPos currentPos)
{
HexagonalMap map = GetMap();
HexaPath path = new HexaPath();
path.AddPos(currentPos);
List <HexagonalMap.Direction> .Enumerator e = sequence.mMotions.GetEnumerator();
while (e.MoveNext())
{
HexagonalMap.Direction step = e.Current;
currentPos = map.GetNext(currentPos, step);
path.AddPos(currentPos);
}
return(path);
}
public void Move(HexagonalMap.Direction step)
{
motion.AddOneStep(step);
_currentPos = _map.GetNext(_currentPos, step);
path.AddPos(_currentPos);
}
public void AddOneStep(HexagonalMap.Direction step)
{
mMotions.Add(step);
}
private void tbPlan_Click(object sender, EventArgs e)
{
int planLength = 0;
if (this.tbPlanLength.Text != "")
{
planLength = Int32.Parse(this.tbPlanLength.Text);
}
else
{
planLength = 0;
}
Random rnd = new Random();
int start_x = this.mapViewForm.map.mapState.ActiveHex.posX;
int start_y = this.mapViewForm.map.mapState.ActiveHex.posY;
HexaPos pos = new HexaPos(start_x, start_y);
if (this.rbRandom.Checked == true)
{
HexaPath path = new HexaPath();
path.AddPos(pos);
for (int t = 0; t < planLength; t++)
{
int rndIdx = rnd.Next(5);
HexagonalMap.Direction direction = mapViewForm.map.directionList[rndIdx];
HexaPos newPos = mapViewForm.map.GetNext(path[t], direction);
path.AddPos(newPos);
}
LoadActivePath(path);
mapViewForm.Refresh();
}
else if (this.rbInfoMax.Checked == true)
{
InfoMaxPathPlanner planner
= new InfoMaxPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
tograph.Draw();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph graph = planningGenerator.GetPathPlanningGraph(startPos, Int32.Parse(this.tbPlanLength.Text));
graph.Draw();
planner.iteratingOnce = true;
HexaPath maxPath = planner.FindPath(graph, startPos);
LoadActivePath(maxPath);
mapViewForm.Refresh();
}
else if (this.rbDistMin.Checked == true)
{
DistMinPathPlanner planner = new DistMinPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
HexaPos endPos = new HexaPos(mapViewForm.endHex.posX, mapViewForm.endHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
HexaPath path = planner.FindPath(tograph, startPos, endPos);
LoadActivePath(path);
mapViewForm.Refresh();
}
}
