public void Run()
{
for (int i = 0; i < trial_times; i++)
{
foreach (int WR in wingmanRange)
{
HexaPos startPos = this._mapForm.human.path[0];
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(this._mapForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph planGraph = planningGenerator.GetPathPlanningGraph(this._mapForm.HumanPath, WR);
PlanningGraphPruner pruner = new PlanningGraphPruner();
PathPlanningGraph newPlanGraph = pruner.GetPlanningGraph(planGraph, startPos);
PathPlanningGraph prunedPlanGraph = pruner.BackwardPrune(newPlanGraph);
prunedPlanGraph = pruner.ForwardPrune(prunedPlanGraph);
Robot robot = new Robot(this._mapForm.map);
Human human = new Human(this._mapForm.map);
foreach (int HR in humanRange)
{
this._mapForm.map.GetMapStateMgr().RandomizeValue();
human.SetObservationRange(HR);
double[,] localEntropy = this._mapForm.map.GetMapStateMgr().CopyEntropy();
human.Update(this._mapForm.HumanPath, localEntropy);
foreach (int RR in robotRange)
{
robot.SetObservationRange(RR);
Console.WriteLine("Trial Time: " + i.ToString() + " WR: " + WR.ToString() + " RR: " + RR.ToString() + " HR: " + HR.ToString());
HexaPath maxPath = new HexaPath();
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(this._mapForm.map, robot);
planner._localEntropy = localEntropy;
planner.iteratingOnce = true;
maxPath = planner.FindPath(prunedPlanGraph, startPos);
Console.WriteLine("PATH : " + maxPath.ToString());
// double[,] tempEntropy = (double[,])this._mapForm.map.GetMapStateMgr().CopyEntropy();
//double maxScore = robot.Score(maxPath, tempEntropy);
double maxScore = planner.finalMaxScore;
Console.WriteLine("SCORE: " + maxScore);
Console.WriteLine("");
HexaPath tpPath = new HexaPath();
TeleportPathPlanner planner2 = new TeleportPathPlanner(this._mapForm.map, robot);
planner2._localEntropy = (double[, ])localEntropy.Clone();
tpPath = planner2.FindPath(prunedPlanGraph, startPos);
HexaPath gdPath = new HexaPath();
SimpleGreedyPathPlanner planner3 = new SimpleGreedyPathPlanner(this._mapForm.map, robot);
planner3._localEntropy = (double[, ])localEntropy.Clone();
gdPath = planner3.FindPath(prunedPlanGraph, startPos);
TeleportParameter param = new TeleportParameter();
param.maxScore = maxScore;
param.problemSize = planner.problemSize;
param.scoreAtFirstRun = planner.scoreAtFirstRun;
param.exploredSize = planner.exploredSize;
param.totalRunTime = planner.totalRunTime;
param.hitOptimalRunTime = planner.hitOptimalRunTime;
param.teleportScore = planner2.ScorePath(robot, (double[, ])localEntropy.Clone(), tpPath);
param.greedyScore = planner3.ScorePath(robot, (double[, ])localEntropy.Clone(), gdPath);
param.robotRange = RR;
param.humanRange = HR;
param.wingmanRange = WR;
param.runIndex = i;
this.performanceList.Add(param);
}
}
}
}
save(prefix);
}
