private void doTruck(List <Order> truckOrders)
{
List <List <Location> > truckPaths = new List <List <Location> >();
List <Location> path;
AStarSearch astar = new AStarSearch(groundGrid, Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0));
path = astar.ReconstructPath(Depot, new Location(truckOrders.First().x, truckOrders.First().y, 0), astar.cameFrom);
truckPaths.Add(path);
for (int i = 0; i < truckOrders.Count - 1; i++)
{
astar = new AStarSearch(groundGrid,
new Location(truckOrders[i].x, truckOrders[i].y, 0),
new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0));
path = astar.ReconstructPath(new Location(truckOrders[i].x, truckOrders[i].y, 0),
new Location(truckOrders[i + 1].x, truckOrders[i + 1].y, 0),
astar.cameFrom);
truckPaths.Add(path);
}
astar = new AStarSearch(groundGrid, new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot);
path = astar.ReconstructPath(new Location(truckOrders.Last().x, truckOrders.Last().y, 0), Depot, astar.cameFrom);
truckPaths.Add(path);
truckStatusUpdate(truckPaths);
}
public static List <Location> simpleRoute(SquareGrid grid, Location start, Location finish)
{
List <Location> path = new List <Location>();
AStarSearch astar = new AStarSearch(grid, start, finish);
path = astar.ReconstructPath(start, finish, astar.cameFrom);
return(path);
}
private void doDrone(List <Order> droneOrders)
{
List <List <Location> > dronePaths = new List <List <Location> >();
foreach (var order in droneOrders)
{
List <Location> path = new List <Location>();
AStarSearch astar = new AStarSearch(grid, Depot, new Location(order.x, order.y, 0));
path = astar.ReconstructPath(Depot, new Location(order.x, order.y, 0), astar.cameFrom);
var returnPath = path;
returnPath.Reverse();
path.AddRange(returnPath);
dronePaths.Add(path);
}
droneStatusUpdate(dronePaths);
}
