/// <summary>
/// This method is used to decide which tile the robot has to reach. All the potential tiles are the one that are free and near an unknown one
/// </summary>
/// <returns></returns>
public IEnumerator ChoosingPointToReach()
{
while (!targetFound)
{
//RemovingWrongDetection();
DetectingFrontierPoints();
//Debug.Log(posToReach.Count);
if (posToReach.Count != 0)
{
goals = posToReach;
tempGoal = rDM.PosToReach(goals);
if (route != null)
{
route.Clear();
}
route = rPl.CheckVisibility(transform.position, tempGoal);
rM.tempReached = false;
if (route == null && noPath)
{
numeric_robot_map[(int)FixingRound(tempGoal.x / squareSize), (int)FixingRound(tempGoal.z / squareSize)] = numUnknownCell;
goals = posToReach;
tempGoal = rDM.PosToReach(goals);
if (route != null)
{
route.Clear();
}
route = rPl.CheckVisibility(transform.position, tempGoal);
rM.tempReached = false;
}
//Debug.Log(route);
if (route == null)
{
rM.ApproachingPointToReach(tempGoal);
}
else
{
rM.ApproachingPointToReach(route, 0);
}
}
else
{
transform.Rotate(Vector3.up * Time.deltaTime * 20f);
}
yield return(new WaitForSeconds(timeForDecision));
}
}
