public SurfacePosition Move(SurfacePosition position, SurfaceDirection direction)
{
if (IsLost(position, direction))
{
throw new RobotLostException();
}
var newPosition = new SurfacePosition(position.Row, position.Column);
switch (direction)
{
case SurfaceDirection.Up:
newPosition.Row++;
break;
case SurfaceDirection.Left:
newPosition.Column--;
break;
case SurfaceDirection.Down:
newPosition.Row--;
break;
case SurfaceDirection.Right:
newPosition.Column++;
break;
default:
throw new ArgumentException(nameof(direction), "Direction is not supported: " + direction);
}
return(newPosition);
}
private bool IsLost(SurfacePosition position, SurfaceDirection direction)
{
if (position.Column == 0 && direction == SurfaceDirection.Left)
{
_leftColumnRobotScents[position.Row] = true;
return(true);
}
else if (position.Column == _columnsCount - 1 && direction == SurfaceDirection.Right)
{
_rightColumnRobotScents[position.Row] = true;
return(true);
}
else if (position.Row == 0 && direction == SurfaceDirection.Down)
{
_bottomRowRobotScents[position.Column] = true;
return(true);
}
else if (position.Row == _rowsCount - 1 && direction == SurfaceDirection.Up)
{
_upperRowRobotScents[position.Column] = true;
return(true);
}
return(false);
}
public Robot(ISurfaceGrid marsSurface, SurfacePosition position, SurfaceDirection direction)
{
Position = position;
Direction = direction;
_marsSurface = marsSurface ?? throw new ArgumentNullException(nameof(marsSurface));
IsLost = !_marsSurface.IsValidPosition(position);
}
private IOSurfaceInfo DeclareIO(SurfaceDirection direction, string channel, SurfaceDisposition disposition)
{
var iosi = new IOSurfaceInfo();
iosi.SurfaceDirection = direction;
iosi.Channel = channel;
iosi.SurfaceDisposition = disposition;
IOSurfaceInfos.Add(iosi);
return iosi;
}
private IOSurfaceInfo DeclareIO(SurfaceDirection direction, string channel, SurfaceDisposition disposition)
{
var iosi = new IOSurfaceInfo();
iosi.SurfaceDirection = direction;
iosi.Channel = channel;
iosi.SurfaceDisposition = disposition;
IOSurfaceInfos.Add(iosi);
return(iosi);
}
IOSurfaceInfo FindIOSurfaceInfo(string channel, SurfaceDirection direction)
{
foreach (var iosi in IOSurfaceInfos)
{
if (iosi.Channel == channel && iosi.SurfaceDirection == direction)
{
return(iosi);
}
}
return(null);
}
private IOSurfaceInfo DeclareIO(SurfaceDirection direction, string channel, SurfaceDisposition disposition)
{
var iosi = new IOSurfaceInfo
{
SurfaceDirection = direction,
Channel = channel,
SurfaceDisposition = disposition
};
_ioSurfaceInfos.Add(iosi);
return(iosi);
}
public bool IsDeadScentMovement(SurfacePosition position, SurfaceDirection direction)
{
if (position.Column == 0 && direction == SurfaceDirection.Left)
{
return(_leftColumnRobotScents[position.Row]);
}
else if (position.Column == _columnsCount - 1 && direction == SurfaceDirection.Right)
{
return(_rightColumnRobotScents[position.Row]);
}
else if (position.Row == 0 && direction == SurfaceDirection.Down)
{
return(_bottomRowRobotScents[position.Column]);
}
else if (position.Row == _rowsCount - 1 && direction == SurfaceDirection.Up)
{
return(_upperRowRobotScents[position.Column]);
}
return(false);
}
public void SetDirection(SurfaceDirection newDirection)
{
Direction = newDirection;
}
/// <summary>
/// Extracts the isoparametric curves (isocurves) at the given parameter and surface direction.
/// </summary>
/// <param name="parameter">The parameter between 0.0 to 1.0 whether the isocurve will be extracted.</param>
/// <param name="direction">The U or V direction whether the isocurve will be extracted.</param>
/// <returns>The isocurve extracted.</returns>
public NurbsCurve IsoCurve(double parameter, SurfaceDirection direction)
{
return(Analyze.Surface.Isocurve(this, parameter, direction));
}
/// <summary>
/// Checks if a NURBS surface is closed.<br/>
/// A surface is closed if the first points and the lasts in a direction are coincident.
/// </summary>
/// <returns>True if the curve is closed.</returns>
public bool IsClosed(SurfaceDirection direction)
{
var pts2d = (direction == SurfaceDirection.U) ? CollectionHelpers.Transpose2DArray(ControlPointLocations) : ControlPointLocations;
return(pts2d.All(pts => pts[0].DistanceTo(pts.Last()) < GSharkMath.Epsilon));
}
IOSurfaceInfo FindIOSurfaceInfo(string channel, SurfaceDirection direction)
{
foreach (var iosi in IOSurfaceInfos)
if (iosi.Channel == channel && iosi.SurfaceDirection == direction)
return iosi;
return null;
}
/// <summary>
/// Performs a knot refinement on a surface by inserting knots at various parameters.<br/>
/// <em>Implementation of Algorithm A5.5 of The NURBS Book by Piegl and Tiller.</em>
/// </summary>
internal static NurbsSurface SurfaceKnotRefine(NurbsSurface surface, IList <double> knotsToInsert, SurfaceDirection direction)
{
List <List <Point4> > modifiedControlPts = new List <List <Point4> >();
List <List <Point4> > controlPts = surface.ControlPoints;
KnotVector knots = surface.KnotsV;
int degree = surface.DegreeV;
if (direction != SurfaceDirection.V)
{
controlPts = CollectionHelpers.Transpose2DArray(surface.ControlPoints);
knots = surface.KnotsU;
degree = surface.DegreeU;
}
NurbsBase curve = null;
foreach (List <Point4> pts in controlPts)
{
curve = Curve.KnotRefine(new NurbsCurve(degree, knots, pts), knotsToInsert);
modifiedControlPts.Add(curve.ControlPoints);
}
if (curve == null)
{
throw new Exception(
"The refinement was not be able to be completed. A problem occur refining the internal curves.");
}
if (direction != SurfaceDirection.V)
{
var reversedControlPts = CollectionHelpers.Transpose2DArray(modifiedControlPts);
return(new NurbsSurface(surface.DegreeU, surface.DegreeV, curve.Knots, surface.KnotsV.Copy(),
reversedControlPts));
}
return(new NurbsSurface(surface.DegreeU, surface.DegreeV, surface.KnotsU.Copy(), curve.Knots,
modifiedControlPts));
}
/// <summary>
/// Performs a knot refinement on a surface by inserting knots at various parameters and updating the control point locations.<br/>
/// <em>Implementation of Algorithm A5.5 of The NURBS Book by Piegl and Tiller.</em>
/// ToDo: refactor this algo following the book.
/// </summary>
/// <param name="surface">The surface object to insert the knots.</param>
/// <param name="knotsToInsert">The set of knots to insert.</param>
/// <param name="direction">Whether to insert in the U or V direction of the surface.</param>
/// <returns>A surface with the knots inserted.</returns>
public static NurbsSurface Refine(NurbsSurface surface, IList <double> knotsToInsert, SurfaceDirection direction)
{
return(Modify.Surface.SurfaceKnotRefine(surface, knotsToInsert, direction));
}
public IRobot AddNewRobot(SurfacePosition position, SurfaceDirection direction)
{
return(new Robot(_marsSurface, position, direction));
}
public void GetCommand_Should_Success(int surfaceRowsCount, int surfaceColumnsCount, int robotPositionRow, int robotPositionColumn, SurfaceDirection surfaceDirection,
string commandsString, int expectedPositionRow, int expectedPositionColumn, SurfaceDirection expectedDirection, bool expectedIsLost)
{
SurfaceGrid _marsSurface = new SurfaceGrid(surfaceRowsCount + 1, surfaceColumnsCount + 1);
MarsInvasionControlCenter controlCenter = new MarsInvasionControlCenter(_marsSurface);
var position = new SurfacePosition(robotPositionRow, robotPositionColumn);
var newRobot = controlCenter.AddNewRobot(position, surfaceDirection);
if (!newRobot.IsLost)
{
var commandSet = RobotCommandSet.Create(_commandsFactory, commandsString);
newRobot.ExecuteCommands(commandSet);
PrintPosition(newRobot);
}
else
{
PrintPosition(newRobot);
}
Assert.AreEqual(expectedPositionRow, newRobot.Position.Row);
Assert.AreEqual(expectedPositionColumn, newRobot.Position.Column);
Assert.AreEqual(expectedDirection, newRobot.Direction);
Assert.AreEqual(expectedIsLost, newRobot.IsLost);
}
