public seekUsingGraphComp(Agent agente, Agent objetivo, double max)
{
agent = agente;
target = objetivo;
maxA = max;
grafoActual = new Grafo();
grafoActual.crearLados();
A = new Aestrella();
camino = new List <Nodo>();
pc = new pointChecker();
arrived = false;
actual = 0;
}
public Grafo()
{
pc = new pointChecker();
Nodo nodoAux;
Nodo nodoAux2;
for (int i = 0; i < 20; i = i + 2)
{
if ((i == 4) || (i == 14))
{
continue;
}
else
{
for (int j = 0; j < 10; j = j + 2)
{
nodoAux = new Nodo(new Tuple <double, double>((-10 + i), (5 - j)),
new Tuple <double, double>((-10 + i), (5 - j - 2)),
new Tuple <double, double>((-10 + i + 2), (5 - j - 2)));
nodoAux2 = new Nodo(new Tuple <double, double>((-10 + i), (5 - j)),
new Tuple <double, double>((-10 + i + 2), (5 - j)),
new Tuple <double, double>((-10 + i + 2), (5 - j - 2)));
this.AgregarNodo(nodoAux);
this.AgregarNodo(nodoAux2);
}
}
}
// Con i = 4
nodoAux = new Nodo(new Tuple <double, double>(-6, 5),
new Tuple <double, double>(-6, 3),
new Tuple <double, double>(-4, 3));
nodoAux.SetAltura(-1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(-6, 5),
new Tuple <double, double>(-4, 5),
new Tuple <double, double>(-4, 3));
nodoAux.SetAltura(-1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(-6, -3),
new Tuple <double, double>(-6, -5),
new Tuple <double, double>(-4, -5));
nodoAux.SetAltura(1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(-6, -3),
new Tuple <double, double>(-4, -3),
new Tuple <double, double>(-4, -5));
nodoAux.SetAltura(1);
this.AgregarNodo(nodoAux);
// con i = 14
nodoAux = new Nodo(new Tuple <double, double>(4, 5),
new Tuple <double, double>(4, 3),
new Tuple <double, double>(6, 3));
nodoAux.SetAltura(-1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(4, 5),
new Tuple <double, double>(6, 5),
new Tuple <double, double>(6, 3));
nodoAux.SetAltura(-1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(4, -3),
new Tuple <double, double>(4, -5),
new Tuple <double, double>(6, -5));
nodoAux.SetAltura(1);
this.AgregarNodo(nodoAux);
nodoAux = new Nodo(new Tuple <double, double>(4, -3),
new Tuple <double, double>(6, -3),
new Tuple <double, double>(6, -5));
nodoAux.SetAltura(1);
this.AgregarNodo(nodoAux);
this.crearLados();
}
