//Map constructor
public map(string mapSize, List <string> mapWall)
{
IntFromString ifs = new IntFromString(mapSize);
List <int> coordinate = ifs.getIntFromString();
width = coordinate[0];
length = coordinate[1];
wall = mapWall;
drawMap();
}
//Robot constructor
public robot(string initialState, string goalState, map map)
{
IntFromString ifs = new IntFromString(initialState);
List <int> coordinate = ifs.getIntFromString();
pos = new point2D(coordinate[0], coordinate[1]);
ifs = new IntFromString(goalState);
coordinate = ifs.getIntFromString();
goalPos = new point2D(coordinate[0], coordinate[1]);
robotMap = map;
}
//Draw obstacles
public void drawWall(string oneWall)
{
IntFromString ifs = new IntFromString(oneWall);
List <int> coordinate = ifs.getIntFromString();
for (int j = coordinate[1]; j < coordinate[1] + coordinate[3]; j++)
{
for (int i = coordinate[0]; i < coordinate[0] + coordinate[2]; i++)
{
int index = grids.FindIndex(x => (x.Pos.X == i) && (x.Pos.Y == j));
grids[index].IsWall = true;
}
}
foreach (grid g in grids)
{
if (g.IsWall == true)
{
wallList.Add(g);
}
}
}