private void executeButton_Click(object sender, RoutedEventArgs e)
{
double distance;
if (double.TryParse(distanceTextBox.Text, out distance) == false)
{
distanceTextBox.Focus();
System.Media.SystemSounds.Beep.Play();
return;
}
// ReSharper disable PossibleInvalidOperationException
if (forwardRadioButton.IsChecked.Value)
{
car = car.Forward(distance);
}
else if (backwardRadioButton.IsChecked.Value)
{
car = car.Backward(distance);
}
else if (forwardLeftRadioButton.IsChecked.Value)
{
car = car.ForwardLeft(distance);
}
else if (forwardRightRadioButton.IsChecked.Value)
{
car = car.ForwardRight(distance);
}
else if (backwardLeftRadioButton.IsChecked.Value)
{
car = car.BackwardLeft(distance);
}
else if (backwardRightRadioButton.IsChecked.Value)
{
car = car.BackwardRight(distance);
}
// ReSharper restore PossibleInvalidOperationException
painter.Draw(car);
Debug.WriteLine("{0}, {1}, {2}", car.Center.X, car.Center.Y, car.Orientation);
if (historyListBox.SelectedIndex > -1)
{
if (historyListBox.SelectedIndex < historyListBox.Items.Count - 1)
{
historyListBox.SelectedIndex++;
}
else
{
historyListBox.SelectedIndex = -1;
}
}
}
public List <Node> GetConnectedPositions(double distance, double degree)
{
List <Node> list = new List <Node>(6);
Car vc = Car.Forward(distance);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.Forward, Parameter = distance
}));
vc = Car.ForwardLeft(degree);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.ForwardLeft, Parameter = degree
}));
vc = Car.ForwardRight(degree);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.ForwardRight, Parameter = degree
}));
vc = Car.Backward(distance);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.Backward, Parameter = distance
}));
vc = Car.BackwardLeft(degree);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.BackwardLeft, Parameter = degree
}));
vc = Car.BackwardRight(degree);
//Debug.Assert(Math.Abs(Car.Orientation - vc.Orientation) > 1);
list.Add(new Node(new Point3D(vc.Center.X, vc.Center.Y, vc.Orientation),
new Action {
ActionDirection = ActionDirection.BackwardRight, Parameter = degree
}));
return(list);
}