public void Initialize(Geom[] geoms, Robot[] robots)
{
StopAllChildMaps();
Pair world = FindLargestGeom(geoms);
Vector worldSize = world.Size;
Vector floorPosition = world.Position;
Vector robotSize = FindSmallestRobot(robots);
double longEdge = robotSize.X > robotSize.Y ? robotSize.X : robotSize.Y;
double cellSize = longEdge / 3.0;
_mapSizeX = (int)Math.Ceiling(worldSize.X / cellSize);
_mapSizeY = (int)Math.Ceiling(worldSize.Y / cellSize);
double positionX = floorPosition.X - worldSize.X / 2.0;
double positionY = floorPosition.Y - worldSize.Y /2.0;
if (_baseMap != null)
{
_baseMap.StartWork();
}
LOG.Info("Map size : [ " + _mapSizeX + " , " + _mapSizeY + " ] position(0,0): [" + positionX + " , " + positionY + "]");
_worldProperties = new WorldProperties(_mapSizeX, _mapSizeY, worldSize.X, worldSize.Y, positionX, positionY);
_baseMap = createBaseMap();
_baseMap.StartWork();
}
public void SetWorldProperties(WorldProperties wp)
{
_worldProperties = wp;
}
public void testInitializer()
{
wp = new WorldProperties(100, 100, 100, 100, 0,0);
mf = new MapFactory(wp);
}
public MapHolderBuilder(WorldProperties wp)
{
this.wp = wp;
}
public MapFactory(WorldProperties wp)
{
this._wp = wp;
this._mhb = new MapHolderBuilder(wp);
}
private void assertSingleStoRTest(WorldProperties wp, int swpx, int swpy, double rwpx, double rwpy)
{
SimulatedWorldPosition swp = new SimulatedWorldPosition(swpx, swpy);
RealWorldPosition rwp = wp.convertSimulatedToRealPositions(swp);
Assert.AreEqual (rwp.x, rwpx);
Assert.AreEqual (rwp.y, rwpy);
}
private void assertSingleRtoSTest(WorldProperties wp, double rwpx, double rwpy, int swpx, int swpy)
{
RealWorldPosition rwp = new RealWorldPosition(rwpx, rwpy);
SimulatedWorldPosition swp = wp.convertRealToSimulatedPositions(rwp);
Assert.AreEqual (swp.x, swpx);
Assert.AreEqual (swp.y, swpy);
}
