public PlanningForm(PathPlanningGraph graph, HexagonalMap map, Agent agent, HexaPos startPos, HexagonalMapDrawer mapDrawer, HexaPath humanPath = null)
{
_graph = graph;
_map = map;
_mapDrawer = mapDrawer;
_agent = agent;
_startPos = startPos;
_humanPath = humanPath;
_planMethod = planMethod.UNKNOWN;
InitializeComponent();
}
public SimTestForm(ParameterManager paramMgr)
{
_paramMgr = paramMgr;
_map = new HexagonalMap(paramMgr.simTestWidth, paramMgr.simTestHeight, paramMgr.simTestSize, Hexagonal.HexOrientation.Pointy);
_mapDrawer = new HexagonalMapDrawer(_map, 5, 5);
_human = new Human(_map);
_robot = new Robot(_map);
_planMethod = PlanningForm.planMethod.UNKNOWN;
InitializeComponent();
}
private void MapForm_Closing(object sender, FormClosingEventArgs e)
{
if (_mapDrawer != null)
{
_mapDrawer = null;
}
if (_map != null)
{
_map = null;
}
}
public MapForm(HexagonalMap map, ParameterManager paramMgr)
{
_map = map;
_mapDrawer = new HexagonalMapDrawer(_map, 20, 20);
_paramMgr = paramMgr;
_formState = FormState.IDLE;
_human = new Human(_map);
_robot = new Robot(_map);
InitializeComponent();
transitTimer = new Timer();
transitTimer.Tick += new EventHandler(this.ShowSearchSpace);
transitCurrentCnt = 0;
_visGraphForm = new VisibilityGraphForm(_map);
}
public VisibilityGraphForm(HexagonalMap map)
{
_visibilityGraph = new VisibilityGraph(map);
_graphDrawer = new HexagonalMapDrawer(_visibilityGraph.VisGraph);
InitializeComponent();
}
private void mapViewOpenFileDialog_FileOk(object sender, CancelEventArgs e)
{
try
{
workingPath = System.IO.Path.GetDirectoryName(this.mapViewOpenFileDialog.FileName);
infoMgr.LoadFile(this.mapViewOpenFileDialog.FileName);
this.mapFilepath = System.IO.Path.Combine(workingPath, infoMgr.mapFilename);
this.pixelMap = new PixelMap.PixelMap(this.mapFilepath);
//this.mapViewPictureBox.BackgroundImage = this.pixelMap.GreyMap;
this.mapViewPictureBox.BackgroundImage = this.pixelMap.GetTransparentMap(50);
this.mapViewPictureBox.Size = new Size(this.pixelMap.Header.Width, this.pixelMap.Header.Height);
this.mapViewPanel.Size = this.mapViewPictureBox.Size;
this.mapViewPanel.AutoScroll = true;
this.toolbarForm.Visible = true;
this.mapToolStripMenuItem.Checked = true;
this.saveToolStripMenuItem.Enabled = true;
this.widthNum = (int)this.pixelMap.Header.Width / (paramMgr.hexagonalSize);
this.heightNum = (int)(this.pixelMap.Header.Height / (Math.Sqrt(2) * paramMgr.hexagonalSize / 2));
this.map = new HexagonalMap(this.widthNum, this.heightNum, paramMgr.hexagonalSize, HexOrientation.Pointy);
this.mapDrawer = new HexagonalMapDrawer(this.map);
Random rnd = new Random();
for (int i = 0; i < this.widthNum; i++)
{
for (int j = 0; j < this.heightNum; j++)
{
//this.map.MapState.hexVals[i, j] = rnd.NextDouble();
this.map.MapState.hexVals[i, j] = this.infoMgr.GetDiffusionValue(i, j);
}
}
this.map.MapState.NormalizeHexVal();
//this.map.MapState.DumpHexValToFile("test.csv");
for (int i = 0; i < this.widthNum; i++)
{
for (int j = 0; j < this.heightNum; j++)
{
this.map.GetMapStateMgr().SetEntropy(i, j, this.map.MapState.hexVals[i, j]);
}
}
/*
* for (int i = 0; i < this.pixelMap.BitMap.Width; i++)
* {
* for (int j = 0; j < this.pixelMap.BitMap.Height; j++)
* {
* Color c = this.pixelMap.BitMap.GetPixel(i, j);
* Console.WriteLine("[" + i.ToString() + "," + j.ToString() + "]:" + c.R.ToString() + " " + c.G.ToString() + " " + c.B.ToString());
*
* }
* }
*/
for (int i = 0; i < this.map.mapWidth; i++)
{
for (int j = 0; j < this.map.mapHeight; j++)
{
List <System.Drawing.PointF> points = this.map.GetHex(i, j).inPointSet;
int obsCnt = 0;
List <System.Drawing.PointF> .Enumerator eP = points.GetEnumerator();
while (eP.MoveNext())
{
int tX = (int)System.Math.Floor(eP.Current.X);
int tY = (int)System.Math.Floor(eP.Current.Y);
int bW = this.pixelMap.BitMap.Width;
int bH = this.pixelMap.BitMap.Height;
if (tX > (bW - 1))
{
tX = bW - 1;
}
if (tY > (bH - 1))
{
tY = bH - 1;
}
Color tColor = this.pixelMap.BitMap.GetPixel(tX, tY);
if ((int)tColor.R < 200 || (int)tColor.G < 200 || (int)tColor.B < 200)
{
obsCnt++;
}
}
//if (obsCnt * 2 > points.Count)
if (obsCnt > 0)
{
this.map.mapState.AddObstalce(this.map.GetHex(i, j));
}
}
}
robot = new Robot(map);
this.pathMgr = new PathManager(map, infoMgr.mapFilename);
}
catch (Exception ex)
{
ShowException(ex);
}
}
