public VehicleSensorManager(Vehicle v, NavigationMapManager m)
{
vehicle = v;
navigationMap = m;
realMap = navigationMap.getHazardModel();
width = realMap.GetLength(0);
height = realMap.GetLength(1);
}
public void startSimulationDSTAR(int startX, int startY, int endX, int endY)
{
rover = new Vehicle(mapManager);
System.Diagnostics.Stopwatch sw = System.Diagnostics.Stopwatch.StartNew();
rover.traverseMapDstar(startX, startY, endX, endY);
sw.Stop();
rover.generatePathImage();
steps = rover.getSteps();
imageSource = rover.getPathImage();
timeTaken = sw.Elapsed.TotalSeconds + " Seconds";
stepTraverseStarted = false;
}
public void simulationStepSetUp()
{
rover = new Vehicle(mapManager);
simulationInProgress = true;
stepSet = true;
rover.startTraverse(startX,startY ,targetX,targetY);
}
public void runCompareSimulation()
{
if (rover.reachedTarget())
{
compareRover = new Vehicle(mapManager);
compareRover.fullEnvironment();
compareRover.traverseCompare(startX, startY, targetX, targetY);
compareRoverD = new Vehicle(mapManager);
compareRoverD.fullEnvironment();
compareRoverD.traverseMapDstar(startX, startY, targetX, targetY);
likenessDknownToA = comparePaths(compareRover.getPathPoints(), compareRoverD.getPathPoints());
likenessDunknownToA = comparePaths(compareRover.getPathPoints(), rover.getPathPoints());
likenessDunknownToDknown = comparePaths(compareRoverD.getPathPoints(), rover.getPathPoints());
compareCompleted = true;
}
}
public void nextStep(int startX , int startY , int endX , int endY)
{
if (pathGenerated == false)
{
if (stepTraverseStarted == false)
{
rover = new Vehicle(mapManager);
rover.startTraverse(startX, startY, endX, endY);
stepTraverseStarted = true;
}
else
{
rover.traverseMapDStep();
imageSource = rover.getPathImage();
if (rover.reachedTarget())
{
pathGenerated = true;
}
}
}
}