public void TestWaypointClone()
{
Waypoint wp = new Waypoint(new Coordinate(60.2, 5.3));
Waypoint wp2 = wp.Clone();
wp2.Position.Coordinate = new Coordinate(60, 5);
Assert.IsTrue(wp.Position.Coordinate.LatitudeDeg != wp2.Position.Coordinate.LatitudeDeg,
"Latitudes should not be the same.");
}
public static Datastruct getPositionsT4(float[][] items, int numberofGuards, Map map, float[][] start_position, float[][] end_position, float max_speed)
{
Vector2[] interestPoints = new Vector2[items.Length];
List <int> interestPointsUnseen = new List <int>();
List <Set> subsets = new List <Set>();
List <Waypoint>[] guardWaypoints = new List <Waypoint> [numberofGuards];
Waypoint[] guardCurrentPositions = new Waypoint[numberofGuards];
Waypoint[] newGuardPositions = new Waypoint[numberofGuards];
int runs = 0;
// Initialize items
for (int i = 0; i < items.Length; i++)
{
interestPoints[i] = new Vector2(items[i][0], items[i][1]);
interestPointsUnseen.Add(i);
}
//Initialize position of the guards and remove initial points that are seen and points that will be seen at the end
for (int i = 0; i < numberofGuards; i++)
{
Vector2 c_start = new Vector2(start_position[i][0], start_position[i][1]);
Vector2 c_end = new Vector2(end_position[i][0], end_position[i][1]);
Set s_start = pointsInSight(c_start, map.sensor_range, interestPoints, map.polygons);
Set s_end = pointsInSight(c_end, map.sensor_range, interestPoints, map.polygons);
interestPointsUnseen = removeSeenPoints(s_start.set, interestPointsUnseen);
interestPointsUnseen = removeSeenPoints(s_end.set, interestPointsUnseen);
Waypoint w = new Waypoint(new Vector2(start_position[i][0], start_position[i][1]), 0, s_start.set);
guardWaypoints[i] = new List <Waypoint>();
guardWaypoints[i].Add(w);
guardCurrentPositions[i] = w;
}
//Generate subsets
foreach (var c in interestPoints)
{
Set s = pointsInSight(c, map.sensor_range, interestPoints, interestPointsUnseen, map.polygons);
//s.getVisiblePointsFromPath(guardCurrentPositions, interestPoints, interestPointsUnseen, r, map.polygons);
subsets.Add(s);
}
//While whole set isn't covered
while (interestPointsUnseen.Count >= 1 && runs < 50)
{
Debug.Log("Total Interest points to see: " + interestPoints.Length);
Debug.Log("left Interest points to see: " + interestPointsUnseen.Count);
for (int i = 0; i < numberofGuards; i++)
{
guardCurrentPositions[i] = guardWaypoints[i].Last();
}
//Update distance from each subset to the closest guard
foreach (Set s in subsets)
{
s.updateSetScores(guardCurrentPositions, map.polygons);
}
//Run weighted greedy and get new guard position
newGuardPositions = weightedGreedy2(subsets, guardCurrentPositions, map.polygons, map.sensor_range, interestPoints, max_speed);
if (newGuardPositions == null)
{
break;
}
int h = -1;
for (int i = 0; i < numberofGuards; i++)
{
if (guardCurrentPositions[i].point != newGuardPositions[i].point)
{
h = i;
Debug.Log("Guard " + i + " moved");
interestPointsUnseen = removeSeenPointsFromPath(guardCurrentPositions[i], newGuardPositions[i].point, interestPoints, interestPointsUnseen, map.sensor_range, map.polygons);
}
}
guardCurrentPositions = (Waypoint[])newGuardPositions.Clone();
guardWaypoints[h].Add(guardCurrentPositions[h]);
runs++;
}
//guardWaypoints = findEndPositions(end_position, guardWaypoints);
for (int i = 0; i < numberofGuards; i++)
{
Vector2 c_end = new Vector2(end_position[i][0], end_position[i][1]);
Set s_end = pointsInSight(c_end, map.sensor_range, interestPoints, map.polygons);
Waypoint w = new Waypoint(c_end, Vector2.Distance(c_end, guardWaypoints[i].Last().point) / max_speed, s_end.set);
guardWaypoints[i].Add(w);
}
for (int i = 0; i < guardWaypoints.Length; i++)
{
string s1 = "Guard " + i + ": ";
string s2 = "Guard " + i + ": ";
for (int j = 0; j < guardWaypoints[i].Count; j++)
{
s1 += guardWaypoints[i][j].time + ", ";
s2 += guardWaypoints[i][j].point + ", ";
}
Debug.Log(s1);
Debug.Log(s2);
}
float totalTime = 0;
for (int i = 0; i < guardWaypoints.Length; i++)
{
if (guardWaypoints[i].Last().time > totalTime)
{
totalTime = guardWaypoints[i].Last().time;
}
}
Debug.Log("Final: Total Interest points to see: " + interestPoints.Length);
Debug.Log("Final: left Interest points to see: " + interestPointsUnseen.Count);
Debug.Log("Runs: " + runs);
Debug.Log("Task completed in: " + totalTime);
return(new Datastruct(guardWaypoints, subsets));
}