public void update(SimulatorExperiment engine, Environment environment)
{
if (first)
{
distances = new double[environment.POIPosition.Count, engine.robots.Count];
for (int v = 0; v < environment.POIPosition.Count; v++)
{
for (int w = 0; w < engine.robots.Count; w++)
{
distances[v, w] = radius;
}
}
first = false;
return;
}
double dist = 0;
for (int k = 0; k < engine.robots.Count; k++)
{
Robot r = engine.robots[k];
for (int j = 0; j < environment.POIPosition.Count; j++)
{
dist = EngineUtilities.euclideanDistance(r.location, new Point2D(environment.POIPosition[j].X, environment.POIPosition[j].Y));
if (dist < distances[j, k])
{
distances[j, k] = dist;
}
}
}
}
double IFitnessFunction.calculate(SimulatorExperiment engine, Environment environment, out double[] objectives)
{
objectives = null;
/* double a = 0;
*
* grid = ((GridCollision)((MultiAgentExperiment)engine).collisionManager).grid;
*
* int dim = grid.coarseness;
* for (int x = 0; x < dim; x++)
* {
* for (int y = 0; y < dim; y++)
* {
* int gx = (int)((double)x * grid.gridx) + (int)(grid.gridx / 2.0);
* int gy = (int)((double)y * grid.gridy) + (int)(grid.gridy / 2.0);
* if ((environment.AOIRectangle.Contains(gx, gy)))
* a += grid.grid[x, y].viewed;
* }
* }*/
double fit = 0;
if (allLeft)
{
for (int j = 0; j < engine.robots.Count; j++)
{
if (!environment.AOIRectangle.Contains((int)engine.robots[j].location.x, (int)engine.robots[j].location.y))
{
fit += 50;
}
else if (!engine.robots[j].collide_last)
{
fit += 10.0 * (1.0 - (EngineUtilities.euclideanDistance(engine.robots[j].location, environment.goal_point) / 145.0));
}
}
}
return(accum + fit);
}
