public void setup(string robotModel)
{
foreach (Type t in this.GetType().Assembly.GetTypes())
{
if (t.IsSubclassOf(typeof(Robot)))
{
functionComboBox.Items.Add(t.Name);
}
}
robot = RobotModelFactory.getRobotModel(robotModel);
if (robot != null)
{
for (int j = 0; j < functionComboBox.Items.Count; j++)
{
if (functionComboBox.Items[j].ToString().Equals(robot.Name))
{
functionComboBox.SelectedIndex = j;
break;
}
}
}
}
private void functionComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
robot = RobotModelFactory.getRobotModel(functionComboBox.SelectedItem.ToString());
Invalidate();
}
/// <summary>
/// Initializes robot brains and positions them in the CurrentEnvironment.
/// </summary>
public override void initializeRobots(AgentBrain agentBrain, Environment e, float headingNoise, float sensorNoise, float effectorNoise, instance_pack ip)
{
double spacing = 0;
int num_bots;
double dx, dy; // Deltas for spacing the robots
if (overrideTeamFormation)
{
dx = Math.Cos(group_orientation / 180.0 * 3.14) * group_spacing;
dy = Math.Sin(group_orientation / 180.0 * 3.14) * group_spacing;
spacing = group_spacing;
}
else
{
dx = Math.Cos(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
dy = Math.Sin(e.group_orientation / 180.0 * 3.14) * e.robot_spacing;
spacing = e.robot_spacing;
}
AgentBrain ab;
List <Robot> rbts;
double _timestep = 0.0;
if (ip == null)
{
ab = agentBrain;
rbts = robots;
num_bots = numberRobots;
_timestep = this.timestep;
}
else
{
ab = ip.agentBrain;
rbts = new List <Robot>();
ip.robots = rbts;
num_bots = ip.num_rbts;
_timestep = ip.timestep;
}
rbts.Clear();
bool circle = false;
bool staggered = true;
double radius = (spacing) / (2.0 * Math.PI * (1.0 / num_bots));
double angleDelta = (2 * Math.PI) / num_bots;
// Add robots in their formation according to CurrentEnvironment
double nx, ny;
for (int num = 0; num < num_bots; num++)
{
double heading = overrideTeamFormation ? robot_heading : e.robot_heading;
Robot r;
if (robotValues != null && robotValues.Count > 0 && robotValues.Count >= num)
{
r = RobotModelFactory.getRobotModel(robotValues[num]);
}
else
{
r = RobotModelFactory.getRobotModel(robotModelName);
}
if (circle)
{
nx = e.start_point.X + radius * Math.Cos(num * angleDelta);
ny = e.start_point.Y + radius * Math.Sin(num * angleDelta);
heading = num * angleDelta - Math.PI;
}
else
{
if (staggered && num % 2 == 1 && e.stagger != 0)
{
nx = e.start_point.X + num * dx + (staggered ? e.stagger * num : 0);
}
else
{
nx = e.start_point.X + num * dx - (staggered ? e.stagger * num : 0);
}
ny = e.start_point.Y + num * dy;
heading = (heading / 180.0) * 3.14;
}
r.init(num, nx, ny,
heading, ab, e, sensorNoise, effectorNoise, headingNoise, (float)_timestep);
r.CollisionPenalty = collisionPenalty;
ab.registerRobot(r);
if (overrideDefaultSensorDensity)
{
r.populateSensors(sensorDensity);
}
else
{
r.populateSensors();
}
if (agentBrain.ZCoordinates == null)
{
r.ZStack = 0;
}
else
{
r.ZStack = ab.ZCoordinates[num];
}
rbts.Add(r);
}
ab.updateInputDensity();
}
