/// <summary>
/// Called from main form. Begin the update function and assign a robot to the map.
/// </summary>
/// <param name="r">Input robot.</param>
public void SetUpdate(Rovio.BaseArena r)
{
robot = r;
picBoxRovio.Location = new DPoint(100, 100);
timer = new Timer();
timer.Tick += Update;
timer.Start();
}
public Map(Rovio.BaseArena r, Control.ControlCollection c, int x, int y)
{
robot = r;
maxY = 300 / 10;
maxX = 260 / 10;
finalMap = new bool[maxX, maxY];
isCellVisible = new bool[maxX, maxY];
preySensor = new bool[maxX, maxY];
preyProbability = new double[maxX, maxY];
obstacleSensor = new bool[maxX, maxY];
obstacleProbability = new double[maxX, maxY];
for (int i = 0; i < maxX; i++)
{
for (int j = 0; j < maxY; j++)
{
finalMap[i, j] = false;
preyProbability[i, j] = 0.5;
obstacleProbability[i, j] = 0.5;
isCellVisible[i, j] = false;
preySensor[i, j] = false;
obstacleSensor[i, j] = false;
}
}
SetPictureBox(c, ref picBoxBayes, ref bBayes, 260, 300, 0, 0);
SetPictureBox(c, ref picBoxObstacle, ref bObstacle, 30, 30, -100, -100);
SetPictureBox(c, ref picBoxPrey, ref bPrey, 3, 3, -100, -100);
SetPictureBox(c, ref picBoxRovio, ref bRovio, 24, 27, -100, -100);
SetPictureBox(c, ref picBoxCone, ref bCone, 138, 150, -500, -500);
SetPictureBox(c, ref picBoxPath, ref bPath, 260, 300, 0, 0);
picBoxBayes.BackColor = System.Drawing.Color.Transparent;
picBoxPath.BackColor = System.Drawing.Color.Transparent;
SetPictureBox(c, ref picBoxMap, ref bMap, 260, 300, x, y);
picBoxMap.BackColor = System.Drawing.Color.Transparent;
picBoxBayes.Location = new System.Drawing.Point(0, 0);
DrawGraphics();
picBoxCone.Parent = picBoxBayes;
picBoxRovio.Parent = picBoxMap;
picBoxObstacle.Parent = picBoxBayes;
picBoxPrey.Parent = picBoxBayes;
picBoxBayes.Parent = picBoxMap;
picBoxPath.Parent = picBoxBayes;
}
public Map(Rovio.BaseArena r, Control.ControlCollection c, int x, int y)
{
robot = r;
maxY = 300 / 10;
maxX = 260 / 10;
finalMap = new bool[maxX, maxY];
isCellVisible = new bool[maxX, maxY];
preySensor = new bool[maxX, maxY];
preyProbability = new double[maxX, maxY];
obstacleSensor = new bool[maxX, maxY];
obstacleProbability = new double[maxX, maxY];
for (int i = 0; i < maxX; i++)
{
for (int j = 0; j < maxY; j++)
{
finalMap[i, j] = false;
preyProbability[i, j] = 0.5;
obstacleProbability[i, j] = 0.5;
isCellVisible[i, j] = false;
preySensor[i, j] = false;
obstacleSensor[i, j] = false;
}
}
SetPictureBox(c, ref picBoxBayes, ref bBayes, 260, 300, 0, 0);
SetPictureBox(c, ref picBoxObstacle, ref bObstacle, 30, 30, -100, -100);
SetPictureBox(c, ref picBoxPrey, ref bPrey, 3, 3, -100, -100);
SetPictureBox(c, ref picBoxRovio, ref bRovio, 24, 27, -100, -100);
SetPictureBox(c, ref picBoxCone, ref bCone, 138, 150, -500, -500);
SetPictureBox(c, ref picBoxPath, ref bPath, 260, 300, 0, 0);
picBoxBayes.BackColor = System.Drawing.Color.Transparent;
picBoxPath.BackColor = System.Drawing.Color.Transparent;
SetPictureBox(c, ref picBoxMap, ref bMap, 260, 300, x, y);
picBoxMap.BackColor = System.Drawing.Color.Transparent;
picBoxBayes.Location = new System.Drawing.Point(0, 0);
DrawGraphics();
picBoxCone.Parent = picBoxBayes;
picBoxRovio.Parent = picBoxMap;
picBoxObstacle.Parent = picBoxBayes;
picBoxPrey.Parent = picBoxBayes;
picBoxBayes.Parent = picBoxMap;
picBoxPath.Parent = picBoxBayes;
}
/// <summary>
/// Called from main form. Begin the update function and assign a robot to the map.
/// </summary>
/// <param name="r">Input robot.</param>
public void SetUpdate(Rovio.BaseArena r)
{
robot = r;
picBoxRovio.Location = new DPoint(100, 100);
timer = new Timer();
timer.Tick += Update;
timer.Start();
}