public Boolean Initialize_Navigation()
{
ReadRawData(config.map_file_nav);
CreateMap(TrainingSet.navigation);
if (map == null || map.Count <= 0)
{
Console.WriteLine("Failed to initialize Navigation Controller.");
return(false);
}
agents = new Agents(config, ((int)(map.Count / 2) - 1));
if (!(agents.Initialize_Navigation(agentsinit_nav, config)))
{
Console.WriteLine("Failed to initialize Navigation Controller.");
return(false);
}
// Save for replay
//for (int i = 0; i < map.Count; i++)
//{
// List<FieldType> onerow = new List<FieldType>();
// for (int j = 0; j < map[i].Count; j++)
// onerow.Add(map[i][j]);
// arenamap.Add(onerow);
//}
//for (int i = 0; i < agentsinit_nav.Count; i++)
// agentsinit_arena.Add(new Position(agentsinit_nav[i].X, agentsinit_nav[i].Y));
//for (int i = 0; i < items.Count; i++)
// items_arena.Add(new Tuple<Position, Int32>(new Position(items[i].Item1.X, items[i].Item1.Y), items[i].Item2));
loopcount = 0;
return(true);
}