/// <summary>
/// Думаем, что центр scan1 - это X2,Y2. Нужно вернуть X1,Y1.
/// </summary>
/// <returns>Возвращает массив int[3]: X,Y,error: координаты настоящего центра scan1 и квадрат расстояния от него до реального симуляционного центра scan1</returns>
public int[] getRealCoords4()
{
Console.WriteLine("crosslinkig " + X0 + "," + Y0 + ";"
+ X1 + "," + Y1 + ";" + X2 + "," + Y2);
double minsum = 100000000;
int limXY = 20;
double summ;
double min;
int optX = 0, optY = 0;
int C = (Parameters.getD_scan() + Parameters.getR_scan()) / 2;
List <int[]> errorZone = pieErrorZoneSearch(0, 0, X2 - X0, Y2 - Y0);
// Console.WriteLine("errorZone.Count "+ errorZone.Count);
int numberOfMinPoints = 0; //количество точек с одинаковыми минимальными значениями функционала ошибки //TODO
for (int k = 0; k < errorZone.Count; k++)
{
PixelMap map01 = new PixelMap(Parameters.getD_scan1() + Parameters.getR_scan(), Parameters.getD_scan1() + Parameters.getR_scan(), 0, 0, 0);
List <int[]> irrelevantPoints0 = new List <int[]>();
List <int[]> irrelevantPoints1 = new List <int[]>();
int X = errorZone[k][0];
int Y = errorZone[k][1];
for (int i = 0; i < scan0.xyScan.Count; i++)
{
map01[scan0.xyScan[i][0] + C, scan0.xyScan[i][1] + C] = new Pixel(Parameters.wallColor);
}
for (int i = 0; i < scan1.xyScan.Count; i++)
{
map01[scan1.xyScan[i][0] + X + C, scan1.xyScan[i][1] + Y + C] = new Pixel(Parameters.wallColor);
}
int y1 = new int();
int x1 = new int();
bool flagR; //Будет true, если на текущем угле сканирования видно препятствие, иначе false и радиус от текущего угла будет равен нулю
bool flagRepeated; //Будет true, если точка уже сохранена в списке скана
int rPhi = -1;
for (int i = 0; i < Parameters.getN_phi(); i++)
{
//---------------------------------------scan1
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + X + C, y1 + Y + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan1, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan1.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints1.Count; j++)
{
if ((irrelevantPoints1[j][0] == x1) && (irrelevantPoints1[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints1.Add(new int[2] {
x1, y1
});
}
}
//---------------------------------------scan0
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan() + 1; r++)
{
x1 = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y1 = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (map01[x1 + C, y1 + C].Color == Parameters.wallColor)
{
rPhi = r;
flagR = true;
break;
}
}
if (!flagR)
{
rPhi = 0;
}
if (rPhi == -1)
{
Console.WriteLine("Scanning problems r == -1 on scan0, angle: " + i * Parameters.getScan_step() / Math.PI * 180);
}
if (scan0.rByPhi[i] != rPhi)
{
flagRepeated = false;
for (int j = 0; j < irrelevantPoints0.Count; j++)
{
if ((irrelevantPoints0[j][0] == x1) && (irrelevantPoints0[j][1] == y1))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
irrelevantPoints0.Add(new int[2] {
x1, y1
});
}
}
}
summ = 0;
for (int i = 0; i < irrelevantPoints1.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan1.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints1[i][0], irrelevantPoints1[i][1], scan1.xyScan[j][0], scan1.xyScan[j][1]);
}
}
summ += min;
}
for (int i = 0; i < irrelevantPoints0.Count; i++)
{
min = 1000000;
for (int j = 0; j < scan0.xyScan.Count; j++)
{
if (min > Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]))
{
min = Parameters.getSquaredDistance(irrelevantPoints0[i][0], irrelevantPoints0[i][1], scan0.xyScan[j][0], scan0.xyScan[j][1]);
}
}
summ += min;
}
if (minsum > summ)
{
minsum = summ;
optX = X;
optY = Y;
numberOfMinPoints = 0; //TODO
}
if (summ == minsum) //TODO
{
numberOfMinPoints++;
}
}
int errorSquredDistance = Parameters.getSquaredDistance(X1, Y1, X0 + optX, Y0 + optY); //квадрат раастояния от реального положения до предсказанного
//
// Console.WriteLine("opts "+optX+","+optY);
if (errorSquredDistance != 0) //TODO
{
Console.WriteLine("Don't match--------------------------------------");
}
return(new int[5] {
X0 + optX, Y0 + optY, errorSquredDistance, errorZone.Count(), numberOfMinPoints
}); //TODO
}
/// <summary>
/// Требуемый метод для поддержки конструктора — не изменяйте
/// содержимое этого метода с помощью редактора кода.
/// </summary>
private void InitializeComponent()
{
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
this.panel1 = new System.Windows.Forms.Panel();
this.panel3 = new System.Windows.Forms.Panel();
this.label8 = new System.Windows.Forms.Label();
this.numericUpDown4sgm_psi = new System.Windows.Forms.NumericUpDown();
this.numericUpDown5scan_noise = new System.Windows.Forms.NumericUpDown();
this.numericUpDown6n_phi = new System.Windows.Forms.NumericUpDown();
this.numericUpDown3sgm_lmax = new System.Windows.Forms.NumericUpDown();
this.numericUpDown2r_robot = new System.Windows.Forms.NumericUpDown();
this.numericUpDown1r_scan = new System.Windows.Forms.NumericUpDown();
this.label7 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.button2 = new System.Windows.Forms.Button();
this.label1 = new System.Windows.Forms.Label();
this.pictureBox1 = new System.Windows.Forms.PictureBox();
this.button1 = new System.Windows.Forms.Button();
this.radioButton3 = new System.Windows.Forms.RadioButton();
this.radioButton2 = new System.Windows.Forms.RadioButton();
this.radioButton1 = new System.Windows.Forms.RadioButton();
this.panel2 = new System.Windows.Forms.Panel();
this.panel1.SuspendLayout();
this.panel3.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown4sgm_psi)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown5scan_noise)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown6n_phi)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown3sgm_lmax)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2r_robot)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown1r_scan)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
this.SuspendLayout();
//
// panel1
//
this.panel1.BackColor = System.Drawing.SystemColors.GradientActiveCaption;
this.panel1.Controls.Add(this.panel3);
this.panel1.Controls.Add(this.label1);
this.panel1.Controls.Add(this.pictureBox1);
this.panel1.Controls.Add(this.button1);
this.panel1.Controls.Add(this.radioButton3);
this.panel1.Controls.Add(this.radioButton2);
this.panel1.Controls.Add(this.radioButton1);
resources.ApplyResources(this.panel1, "panel1");
this.panel1.Name = "panel1";
//
// panel3
//
this.panel3.BackColor = System.Drawing.SystemColors.ScrollBar;
this.panel3.Controls.Add(this.label8);
this.panel3.Controls.Add(this.numericUpDown4sgm_psi);
this.panel3.Controls.Add(this.numericUpDown5scan_noise);
this.panel3.Controls.Add(this.numericUpDown6n_phi);
this.panel3.Controls.Add(this.numericUpDown3sgm_lmax);
this.panel3.Controls.Add(this.numericUpDown2r_robot);
this.panel3.Controls.Add(this.numericUpDown1r_scan);
this.panel3.Controls.Add(this.label7);
this.panel3.Controls.Add(this.label6);
this.panel3.Controls.Add(this.label5);
this.panel3.Controls.Add(this.label4);
this.panel3.Controls.Add(this.label3);
this.panel3.Controls.Add(this.label2);
this.panel3.Controls.Add(this.button2);
resources.ApplyResources(this.panel3, "panel3");
this.panel3.Name = "panel3";
//
// label8
//
resources.ApplyResources(this.label8, "label8");
this.label8.BackColor = System.Drawing.SystemColors.InactiveCaption;
this.label8.Name = "label8";
//
// numericUpDown6n_phi
//
resources.ApplyResources(this.numericUpDown6n_phi, "numericUpDown6n_phi");
this.numericUpDown6n_phi.Name = "numericUpDown6n_phi";
this.numericUpDown6n_phi.Maximum = 500;
this.numericUpDown6n_phi.Minimum = 10;
this.numericUpDown6n_phi.Value = Parameters.getN_phi();
//
// numericUpDown2r_robot
//
resources.ApplyResources(this.numericUpDown2r_robot, "numericUpDown2r_robot");
this.numericUpDown2r_robot.Name = "numericUpDown2r_robot";
this.numericUpDown2r_robot.Maximum = 100;
this.numericUpDown2r_robot.Minimum = 0;
this.numericUpDown2r_robot.Value = Parameters.getR_robot();
//
// numericUpDown1r_scan
//
resources.ApplyResources(this.numericUpDown1r_scan, "numericUpDown1r_scan");
this.numericUpDown1r_scan.Name = "numericUpDown1r_scan";
this.numericUpDown1r_scan.Maximum = 300;
this.numericUpDown1r_scan.Minimum = 0;
this.numericUpDown1r_scan.Value = Parameters.getR_scan();
//
// numericUpDown4sgm_psi
//
resources.ApplyResources(this.numericUpDown4sgm_psi, "numericUpDown4sgm_psi");
this.numericUpDown4sgm_psi.Name = "numericUpDown4sgm_psi";
this.numericUpDown4sgm_psi.Maximum = 300;
this.numericUpDown4sgm_psi.Minimum = 0;
this.numericUpDown4sgm_psi.Value = Parameters.getSgm_psi_deg();
//
// numericUpDown5scan_noise
//
resources.ApplyResources(this.numericUpDown5scan_noise, "numericUpDown5scan_noise");
this.numericUpDown5scan_noise.Name = "numericUpDown5scan_noise";
this.numericUpDown5scan_noise.Maximum = 3;
this.numericUpDown5scan_noise.Minimum = 0;
this.numericUpDown5scan_noise.Value = Environment.getR_scanNoiseMode();
//
// numericUpDown3sgm_lmax
//
resources.ApplyResources(this.numericUpDown3sgm_lmax, "numericUpDown3sgm_lmax");
this.numericUpDown3sgm_lmax.Name = "numericUpDown3sgm_lmax";
this.numericUpDown3sgm_lmax.Maximum = 50;
this.numericUpDown3sgm_lmax.Minimum = 0;
this.numericUpDown3sgm_lmax.Value = Parameters.getSgm_lmax();
//
// label7
//
resources.ApplyResources(this.label7, "label7");
this.label7.Name = "label7";
//
// label6
//
resources.ApplyResources(this.label6, "label6");
this.label6.Name = "label6";
//
// label5
//
resources.ApplyResources(this.label5, "label5");
this.label5.Name = "label5";
//
// label4
//
resources.ApplyResources(this.label4, "label4");
this.label4.Name = "label4";
//
// label3
//
resources.ApplyResources(this.label3, "label3");
this.label3.Name = "label3";
//
// label2
//
resources.ApplyResources(this.label2, "label2");
this.label2.Name = "label2";
//
// button2
//
resources.ApplyResources(this.button2, "button2");
this.button2.Name = "button2";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// label1
//
resources.ApplyResources(this.label1, "label1");
this.label1.Name = "label1";
//
// pictureBox1
//
this.pictureBox1.BackColor = System.Drawing.SystemColors.ControlDark;
resources.ApplyResources(this.pictureBox1, "pictureBox1");
this.pictureBox1.Name = "pictureBox1";
this.pictureBox1.TabStop = false;
//
// button1
//
resources.ApplyResources(this.button1, "button1");
this.button1.BackColor = System.Drawing.SystemColors.ControlLight;
this.button1.Name = "button1";
this.button1.UseVisualStyleBackColor = false;
//
// radioButton3
//
resources.ApplyResources(this.radioButton3, "radioButton3");
this.radioButton3.Name = "radioButton3";
this.radioButton3.TabStop = true;
this.radioButton3.UseVisualStyleBackColor = true;
radioButton3.CheckedChanged += radioButton3_CheckedChanged;
//
// radioButton2
//
resources.ApplyResources(this.radioButton2, "radioButton2");
this.radioButton2.Name = "radioButton2";
this.radioButton2.TabStop = true;
this.radioButton2.UseVisualStyleBackColor = true;
radioButton2.CheckedChanged += radioButton2_CheckedChanged;
//
// radioButton1
//
resources.ApplyResources(this.radioButton1, "radioButton1");
this.radioButton1.Name = "radioButton1";
this.radioButton1.TabStop = true;
this.radioButton1.UseVisualStyleBackColor = true;
radioButton1.Checked = true;
radioButton1.CheckedChanged += radioButton1_CheckedChanged;
//
// panel2
//
resources.ApplyResources(this.panel2, "panel2");
this.panel2.Name = "panel2";
//
// MainForm
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.BackColor = System.Drawing.SystemColors.ActiveCaption;
resources.ApplyResources(this, "$this");
this.Controls.Add(this.panel1);
this.Controls.Add(this.panel2);
this.Name = "MainForm";
this.WindowState = System.Windows.Forms.FormWindowState.Maximized;
this.panel1.ResumeLayout(false);
this.panel1.PerformLayout();
this.panel3.ResumeLayout(false);
this.panel3.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown4sgm_psi)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown5scan_noise)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown6n_phi)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown3sgm_lmax)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown2r_robot)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.numericUpDown1r_scan)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
this.ResumeLayout(false);
}
/// <summary>
/// Возвращает скан с точной карты в заданных координатах
/// </summary>
/// <param name="X"></param>
/// <param name="Y"></param>
/// <param name="scanColor">цвет скана для отрисовки</param>
/// <returns></returns>
public Scan getScan(int X, int Y, Color scanColor)
{
Scan scan = new Scan();
int y = new int();
int x = new int();
bool flagR; //Будет true, если на текущем угле сканирования видно препятствие, иначе false и радиус от текущего угла будет равен нулю
bool flagRepeated; //Будет true, если точка уже сохранена в списке скана
Random rand = new Random(System.DateTime.Now.Millisecond);
// Stopwatch stopwatch = Stopwatch.StartNew();
for (int i = 0; i < Parameters.getN_phi(); i++)
{
flagR = false;
for (ushort r = 1; r < Parameters.getR_scan1(); r++)
{
x = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
if (preciseMap[x + X, y + Y].Color == Parameters.wallColor)
{
scan.rByPhi[i] = r;
flagRepeated = false;
for (int j = 0; j < scan.xyScan.Count; j++)
{
if ((scan.xyScan[j][0] == x) && (scan.xyScan[j][1] == y))
{
flagRepeated = true;
}
}
if (!flagRepeated)
{
switch (r_scanNoiseMode)
{
case 1:
r = rNoising1(ref r, ref rand);
break;
case 2:
r = rNoising2(ref r, ref rand);
break;
case 3:
r = rNoising3(ref r, ref rand);
break;
}
x = (int)Math.Round(r * Math.Cos(i * Parameters.getScan_step()));
y = (int)Math.Round(r * Math.Sin(i * Parameters.getScan_step()));
scan.xyScan.Add(new int[2] {
x, y
});
}
scan.scanBmp[x + Parameters.getR_scan(), y + Parameters.getR_scan()] = new Pixel(scanColor);
flagR = true;
break;
}
}
if (!flagR)
{
scan.rByPhi[i] = 0;
}
}
// stopwatch.Stop();
// Console.WriteLine("Time wasted: "+stopwatch.ElapsedMilliseconds);
return(scan);
}