private void Forward(int iStartX, int iStartY, out int iEndX, out int iEndY)
{
iEndX = iStartX;
iEndY = iStartY;
if (CurrentDirection == Direction.South && !m_mdMaze.BlockedSquare(iStartX, iStartY + 1))
{
iEndY++;
}
if (CurrentDirection == Direction.North && !m_mdMaze.BlockedSquare(iStartX, iStartY - 1))
{
iEndY--;
}
if (CurrentDirection == Direction.East && !m_mdMaze.BlockedSquare(iStartX + 1, iStartY))
{
iEndX++;
}
if (CurrentDirection == Direction.West && !m_mdMaze.BlockedSquare(iStartX - 1, iStartY))
{
iEndX--;
}
}
private void DrawTrial(Graphics g)
{
Pen pThin = new Pen(Color.Black, 2);
Pen pThick = new Pen(Color.Black, 5);
int iX = 0, iY = 0;
int iStartX = 0, iStartY = 0;
int iEndX = iStartX, iEndY = iStartY;
//g.FillRegion(Brushes.Gray, MazePictureBox.Region);
for (iX = 0; iX < m_mdMaze.Width; iX++)
{
for (iY = 0; iY < m_mdMaze.Height; iY++)
{
if (!m_mdMaze.BlockedSquare(iX, iY))
{
if (m_mdMaze.IsTargetSqaure(iX, iY))
{
g.FillRectangle(Brushes.Green, iX * SCALE, iY * SCALE, SCALE, SCALE);
}
else
{
g.FillRectangle(Brushes.White, iX * SCALE, iY * SCALE, SCALE, SCALE);
}
g.DrawRectangle(pThin, iX * SCALE, iY * SCALE, SCALE, SCALE);
}
}
}
g.FillEllipse(Brushes.Yellow, CurrentState.X * SCALE + 2, CurrentState.Y * SCALE + 2, SCALE - 4, SCALE - 4);
foreach (KeyValuePair <State, double> pair in CurrentBelief.Beliefs(0.01))
{
MazeState ms = (MazeState)pair.Key;
Pen p1 = new Pen(Color.Blue, (float)Math.Max(1, 20 * pair.Value));
iStartX = (int)((ms.X + 0.5) * SCALE);
iStartY = (int)((ms.Y + 0.5) * SCALE);
iEndX = iStartX;
iEndY = iStartY;
if (ms.CurrentDirection == MazeState.Direction.North)
{
iEndY -= SCALE / 2;
}
if (ms.CurrentDirection == MazeState.Direction.South)
{
iEndY += SCALE / 2;
}
if (ms.CurrentDirection == MazeState.Direction.East)
{
iEndX += SCALE / 2;
}
if (ms.CurrentDirection == MazeState.Direction.West)
{
iEndX -= SCALE / 2;
}
g.DrawLine(p1, iStartX, iStartY, iEndX, iEndY);
}
if (CurrentState != null)
{
iStartX = (int)((CurrentState.X + 0.5) * SCALE);
iStartY = (int)((CurrentState.Y + 0.5) * SCALE);
iEndX = iStartX;
iEndY = iStartY;
if (CurrentState.CurrentDirection == MazeState.Direction.North)
{
iEndY -= SCALE / 2;
}
if (CurrentState.CurrentDirection == MazeState.Direction.South)
{
iEndY += SCALE / 2;
}
if (CurrentState.CurrentDirection == MazeState.Direction.East)
{
iEndX += SCALE / 2;
}
if (CurrentState.CurrentDirection == MazeState.Direction.West)
{
iEndX -= SCALE / 2;
}
g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
}
Text = CurrentState.ToString();
if (CurrentObservation.FrontWall)
{
iStartX = 0;
iStartY = (m_mdMaze.Height + 1) * SCALE;
iEndX = SCALE;
iEndY = iStartY;
g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
}
if (CurrentObservation.RightWall)
{
iStartX = SCALE;
iStartY = (m_mdMaze.Height + 1) * SCALE;
iEndX = iStartX;
iEndY = iStartY + SCALE;
g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
}
if (CurrentObservation.BackWall)
{
iStartX = 0;
iStartY = (m_mdMaze.Height + 2) * SCALE;
iEndX = SCALE;
iEndY = iStartY;
g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
}
if (CurrentObservation.LeftWall)
{
iStartX = 0;
iStartY = (m_mdMaze.Height + 1) * SCALE;
iEndX = 0;
iEndY = iStartY + SCALE;
g.DrawLine(pThick, iStartX, iStartY, iEndX, iEndY);
}
}
