コード例 #1
0
ファイル: Track.cs プロジェクト: KiwiJaune/GoBot
 public Track(Track PreviousTrack, Arc Transition)
 {
     if (_Target==null) throw new InvalidOperationException("You must specify a target Node for the Track class.");
     Queue = PreviousTrack;
     _Cost = Queue.Cost + Transition.Cost;
     _NbArcsVisited = Queue._NbArcsVisited + 1;
     EndNode = Transition.EndNode;
 }
コード例 #2
0
ファイル: Graph.cs プロジェクト: KiwiJaune/GoBot
        /// <summary>
        /// Directly Adds an arc to the graph.
        /// </summary>
        /// <exception cref="ArgumentException">Cannot add an arc if one of its extremity nodes does not belong to the graph.</exception>
        /// <param name="NewArc">The arc to add.</param>
        /// <returns>'true' if it has actually been added / 'false' if the arc is null or if it is already in the graph.</returns>
        public bool AddArc(Arc NewArc)
        {
            //if ( NewArc==null || LA.Contains(NewArc) ) return false;
            if (NewArc == null) return false;

            if (!LN.Contains(NewArc.StartNode) || !LN.Contains(NewArc.EndNode))
                throw new ArgumentException("Cannot add an arc if one of its extremity nodes does not belong to the graph.");
            LA.Add(NewArc);
            return true;
        }
コード例 #3
0
ファイル: Graph.cs プロジェクト: KiwiJaune/GoBot
 /// <summary>
 /// Removes a node from the graph as well as the linked arcs.
 /// </summary>
 /// <param name="ArcToRemove">The arc to remove.</param>
 /// <returns>'true' if succeeded / 'false' otherwise.</returns>
 public bool RemoveArc(Arc ArcToRemove)
 {
     if (ArcToRemove == null) return false;
     try
     {
         LA.Remove(ArcToRemove);
         ArcToRemove.StartNode.OutgoingArcs.Remove(ArcToRemove);
         ArcToRemove.EndNode.IncomingArcs.Remove(ArcToRemove);
     }
     catch { return false; }
     return true;
 }
コード例 #4
0
ファイル: Graph.cs プロジェクト: KiwiJaune/GoBot
        /// <summary>
        /// Retourne vrai si le noeud peut se lier avec au moins un autre noeud du graph
        /// </summary>
        /// <param name="node"></param>
        /// <param name="obstacles"></param>
        /// <param name="distanceSecurite"></param>
        /// <param name="distanceMax"></param>
        /// <returns></returns>
        public bool Raccordable(Node node, List<IForme> obstacles, double distanceSecurite, double distanceMax)
        {
            foreach (Node no in Nodes)
            {
                if (node != no)
                {
                    double distance = Math.Sqrt((node.Position.X - no.Position.X) * (node.Position.X - no.Position.X) + (node.Position.Y - no.Position.Y) * (node.Position.Y - no.Position.Y));
                    if (distance < distanceMax)
                    {
                        Arc arc = new Arc(no, node);
                        arc.Weight = Math.Sqrt(distance);
                        Arc arc2 = new Arc(node, no);
                        arc2.Weight = Math.Sqrt(distance);

                        foreach (IForme obstacle in obstacles)
                        {
                            if (obstacle.Distance(new Segment(new PointReel(no.X, no.Y), new PointReel(node.X, node.Y))) < distanceSecurite)
                            {
                                arc.Passable = false;
                                arc2.Passable = false;
                                break;
                            }
                        }

                        if (arc.Passable)
                        {
                            return true;
                        }
                    }
                }
            }

            return false;
        }
コード例 #5
0
ファイル: Graph.cs プロジェクト: KiwiJaune/GoBot
        /// <summary>
        /// Ajoute un noeud au graph en reliant tous les points à une distance maximale et en prenant en compte les obstacles à éviter
        /// Si permanent == false, le point sera supprimé au prochain appel de @CleanNodesArcsAdd
        /// </summary>
        /// <param name="node">Noeud à ajouter</param>
        /// <param name="obstacles">Obstacles à éviter</param>
        /// <param name="distanceSecurite">Distance (mm) de sécurité auour des obstacles</param>
        /// <param name="distanceMax">Distance (mm) max de liaison avec les autres noeuds</param>
        /// <param name="permnant">True si le point est ajouté de façon permanente et donc ne sera pas supprimé au prochain appel de @CleanNodesArcsAdd</param>
        /// <returns>Nombre de points reliés au point ajouté</returns>
        public int AddNode(Node node, List<IForme> obstacles, double distanceSecurite, double distanceMax, bool permanent = false)
        {
            double distanceNode;

            // Si un noeud est deja présent à cet endroit on ne l'ajoute pas
            ClosestNode(node.X, node.Y, node.Z, out distanceNode, true);
            if (distanceNode == 0)
                return 0;

            // Teste si le noeud est franchissable avec la liste des obstacles
            foreach (IForme obstacle in Plateau.ObstaclesPlateau)
            {
                if (obstacle.Distance(new PointReel(node.X, node.Y)) < distanceSecurite)
                {
                    node.Passable = false;
                    return 0;
                }
            }

            Nodes.Add(node);

            if(!permanent)
                nodesAdd.Add(node);

            int nbLiaisons = 0;

            // Liaisons avec les autres noeuds du graph
            foreach (Node no in Nodes)
            {
                if (node != no)
                {
                    double distance = Math.Sqrt((node.Position.X - no.Position.X) * (node.Position.X - no.Position.X) + (node.Position.Y - no.Position.Y) * (node.Position.Y - no.Position.Y));
                    if (distance < distanceMax)
                    {
                        Arc arc = new Arc(no, node);
                        arc.Weight = Math.Sqrt(distance);
                        Arc arc2 = new Arc(node, no);
                        arc2.Weight = Math.Sqrt(distance);

                        foreach (IForme obstacle in obstacles)
                        {
                            if (obstacle.Distance(new Segment(new PointReel(no.X, no.Y), new PointReel(node.X, node.Y))) < distanceSecurite)
                            {
                                arc.Passable = false;
                                arc2.Passable = false;
                                break;
                            }
                        }

                        if (arc.Passable)
                        {
                            AddArc(arc);
                            AddArc(arc2);

                            if (!permanent)
                            {
                                arcsAdd.Add(arc);
                                arcsAdd.Add(arc2);
                            }

                            nbLiaisons++;
                        }
                    }
                }
            }

            return nbLiaisons;
        }
コード例 #6
0
ファイル: Graph.cs プロジェクト: KiwiJaune/GoBot
 /// <summary>
 /// Creates an arc between two nodes that are already registered in the graph, adds it to the graph and returns its reference.
 /// </summary>
 /// <exception cref="ArgumentException">Cannot add an arc if one of its extremity nodes does not belong to the graph.</exception>
 /// <param name="StartNode">Start node for the arc.</param>
 /// <param name="EndNode">End node for the arc.</param>
 /// <param name="Weight">Weight for the arc.</param>
 /// <returns>The reference of the new arc / null if the arc is already in the graph.</returns>
 public Arc AddArc(Node StartNode, Node EndNode, float Weight)
 {
     Arc NewArc = new Arc(StartNode, EndNode);
     NewArc.Weight = Weight;
     return AddArc(NewArc) ? NewArc : null;
 }