コード例 #1
0
ファイル: AlgTopTwo.cs プロジェクト: Lannyland/IPPA
        public AlgTopTwo(MapModes _curModes, PathPlanningRequest _curRequest, int _ModeCount, RtwMatrix _mModes, RtwMatrix _mDistReachable,
            RtwMatrix _mDiffReachable, double _Efficiency_UB)
            : base(_curRequest, _mDistReachable, _mDiffReachable, _Efficiency_UB)
        {
            // Start timer
            //DateTime startTime = DateTime.Now;
            myModes = _curModes;
            //DateTime stopTime = DateTime.Now;
            //TimeSpan duration = stopTime - startTime;
            //double RunTime = duration.TotalSeconds;
            //System.Windows.Forms.MessageBox.Show("Run time " + RunTime + " seconds!");

            CTFTTCoraseLevel = ProjectConstants.CTFTTCoraseLevel;
            CTFTTLevelCount = ProjectConstants.CTFTTLevelCount;
            mDistAfterSeg1Seg4 = mDist;
        }
コード例 #2
0
ファイル: AlgTopN.cs プロジェクト: Lannyland/IPPA
        public AlgTopN(MapModes _curModes, PathPlanningRequest _curRequest, int _ModeCount, RtwMatrix _mModes, RtwMatrix _mDistReachable,
            RtwMatrix _mDiffReachable, double _Efficiency_UB)
            : base(_curRequest, _mDistReachable, _mDiffReachable, _Efficiency_UB)
        {
            //DateTime startTime = DateTime.Now;
            myModes = _curModes;
            //DateTime stopTime = DateTime.Now;
            //TimeSpan duration = stopTime - startTime;
            //double RunTime = duration.TotalSeconds;
            //System.Windows.Forms.MessageBox.Show("Run time " + RunTime + " seconds!");

            Start = new Point(curRequest.pStart.column, curRequest.pStart.row);
            if (curRequest.UseEndPoint)
            {
                End = new Point(curRequest.pEnd.column, curRequest.pEnd.row);
            }
            N = curRequest.TopN;
        }
コード例 #3
0
ファイル: AlgTopNH.cs プロジェクト: Lannyland/IPPA
        // Method to perform the path planning
        protected override void DoPathPlanning()
        {
            // Sanity check: Don't do this when there is no mode or just 1 mode
            if (ModeCount < 3)
            {
                System.Windows.Forms.MessageBox.Show("Can't use TopN algorithm because there are less than 3 modes!");
                return;
            }

            // Do not exceed Max N set in project constants
            int GCount = ModeCount;
            if (GCount > ProjectConstants.Max_N)
            {
                GCount = ProjectConstants.Max_N;
            }

            // Loop through Gaussian Counts
            int counter = 0;
            for (int i = GCount; i > 1; i--)
            {
                for (int j = i; j > 1; j--)
                {
                    // Clone things for each search
                    PathPlanningRequest curRequestCopy = curRequest.DeepClone();
                    RtwMatrix mDistCopy = mDist.Clone();
                    RtwMatrix mDiffCopy = mDiff.Clone();
                    // Set appropriate parameters (always do coarse to fine and parallel)
                    curRequestCopy.AlgToUse = AlgType.TopN;
                    curRequestCopy.BatchRun = false;
                    curRequestCopy.DrawPath = false;
                    curRequestCopy.RunTimes = 1;
                    curRequestCopy.UseCoarseToFineSearch = true;
                    curRequestCopy.UseHierarchy = true;
                    curRequestCopy.UseParallelProcessing = true;
                    curRequestCopy.TopN = j;
                    MapModes curModes = new MapModes(i, ModeCount, mModes, curRequestCopy, mDist, mDiff);
                    // Create path planning object
                    AlgTopN curAlg = new AlgTopN(curModes, curRequestCopy, ModeCount, mModes, mDistCopy, mDiffCopy, Efficiency_UB);
                    curAlg.index = counter;
                    lstThreads.Add(curAlg);
                    counter++;
                }
            }

            // Allocate array space for results
            arrResponses = new PathPlanningResponse[lstThreads.Count];

            // Decide whether to do parallelization
            if (curRequest.UseParallelProcessing)
            {
                ParallelSearch();
            }
            else
            {
                ExtensiveSearch();
                FindBestPath();
            }
        }