public TacticLayer(WorldModel worldModel, LowLevelLayer lowLevel)
{
actionSelectionStrategy = new FuzzyActionSelectionStrategy(worldModel);
WM = worldModel;
lowLevelLayer = lowLevel;
mLogger = Logger.Logger.Instance;
internalState = ModuleState.Inactive;
Hashtable consts = WM.GetConstants();
currentActionDirective = new ActionDirective(AHEntities.Action.LEAVE, DateTime.Now);
//PlanningScheduler = new OnDemandActionPlanningSchedulingStrategy(0.02, currentActionDirective, lowLevel);
PlanningScheduler = new PeriodicActionPlanningSchedulingStrategy((double)consts["PlanPeriod"], currentActionDirective, lowLevel);
}
public LowLevelLayer(Communicator.Communicator com, WorldModel worldModel, double timeStep, short degrees)
{
internalState = ModuleState.Inactive;
communicator = com;
WM = worldModel;
DOF = degrees;
Ts = timeStep;
mLogger = Logger.Logger.Instance;
planTime = new Stopwatch();
planTime.Reset();
Hashtable consts = WM.GetConstants();
maxTime = (double)consts["MoveInterval"];
commandsQueue = new TrajectoryQueue(DOF, new double[2] {
-1000, 0
});
bounderyConditions = new PointParams();
//motionGuidanceStrategy = new OpenLoopMotionGuidanceStrategy(commandsQueue, com, Ts);
motionGuidanceStrategy = new PDMotionGuidanceStrategy(commandsQueue, com, Ts, WM);
actionPlanningStrategy = new SimpleLinesActionPlanningStrategy(WM);
trajectoryPlanningStrategy = new PolynomialTrajectoryPlanningStrategy(Ts, maxTime);
// dummy planning to warm up the containers
#region Warmup
/*
* PointParams init = new PointParams();
* init.AddParameters(new Point(0, 0));
* init.AddParameters(new Point(0, 0));
* init.T = DateTime.Now;
* //init.T = 0;
* PointParams final = new PointParams();
* final.AddParameters(new Point(0, 0));
* final.AddParameters(new Point(0, 0));
* final.T = DateTime.Now + TimeSpan.FromSeconds(0.2);
* state = WM.GetPhysicalState();
* actionPlanningStrategy.ActionPlanning(AHEntities.Action.DEFENSE_ATTACK, true);
* trajectoryPlanningStrategy.TrajectoryPlanning(init, final);
*/
#endregion Warmup
}
public FuzzyActionSelectionStrategy(WorldModel worldModel)
{
WM = worldModel;
global = worldModel.GetConstants();
}
public SimpleEstimationStrategy(WorldModel worldModel)
{
global = worldModel.GetConstants();
}