public LowLevelRobot(LowLevelMap map, int x, int y)
{
mMap = map;
X = mRealX = x;
Y = mRealY = y;
}
static void Main(string[] args)
{
GraphViewer gv;
string graph1 = "...........\n" +
".OOOOOOOOO.\n" +
".O...O...O.\n" +
".OOOOOOOOO.\n" +
".O...O...O.\n" +
".OOOOOOOOO.\n" +
"...........";
string graph2 = ".......\n" +
".O...O.\n" +
".O...O.\n" +
".OOOOO.\n" +
"...O...\n" +
"...O...\n" +
".......\n";
string graph3 = "...........\n" +
".OOOOOOOOO.\n" +
".O...O...O.\n" +
".O...O...O.\n" +
".O...O...O.\n" +
".....O.....\n" +
".....O.....\n" +
".....O.....\n" +
".OOOOOOOOO.\n" +
"...........\n";
string graph4 = ".........................\n" +
".O...OOOOOOOOOOOOOOO...O.\n" +
".O.......O.....O.......O.\n" +
".O.......O.....O.......O.\n" +
".O.......O.....O.......O.\n" +
".O.......O.....O.......O.\n" +
".OOOOOOOOO.....OOOOOOOOO.\n" +
".....O.............O.....\n" +
".....O......O......O.....\n" +
".....O......O......O.....\n" +
".....O......O......O.....\n" +
".OOOOOOOOOOOOOOOOOOOOOOO.\n" +
".........................\n";
string graph5 = "...........................\n" +
".OOOOOOOOOOOOOOOOOOOOOOOOO.\n" +
".O.....O.....O.....O.....O.\n" +
".O.....O.....O.....O.....O.\n" +
".OOOOOOOOOOOOOOOOOOOOOOOOO.\n" +
".O.....O.....O.....O.....O.\n" +
".O.....O.....O.....O.....O.\n" +
".OOOOOOOOOOOOOOOOOOOOOOOOO.\n" +
".O.....O.....O.....O.....O.\n" +
".O.....O.....O.....O.....O.\n" +
".OOOOOOOOOOOOOOOOOOOOOOOOO.\n" +
".O.....O.....O.....O.....O.\n" +
".O.....O.....O.....O.....O.\n" +
".OOOOOOOOOOOOOOOOOOOOOOOOO.\n" +
"...........................\n";
lowMap = new LowLevelMap('O', '.', graph4);
lowRobot = new LowLevelRobot(lowMap, 1, 1);
MapNode firstNode = ExploreMap(lowRobot.CheckNode(), null, 0, null);
double distToSecond;
Console.WriteLine("[DFS 결과]");
Console.WriteLine($"Node 수 : {nodeList.Count}");
foreach (var ele in nodeList)
{
Console.WriteLine($"{ele.NodeNumber} : ({ele.Position}), ({ele.Error})");
}
gv = new GraphViewer();
gv.AddPoints(firstNode);
gv.Show();
Direction secondDir = firstNode.FindDirOf(nodeList[1]).Value;
TurnRobot(secondDir);
distToSecond = firstNode.GetDist(secondDir);
lowRobot.Move(1);
robotPos.Node1 = firstNode;
robotPos.Node2 = nodeList[1];
robotPos.DivRatio1 = 1;
robotPos.DivRatio2 = distToSecond - 1;
Console.Write("최단 거리를 탐색할 위치를 입력하세요. (입력형식: {node1} {node2} {ratio1} {ratio2}) : ");
string[] token = Console.ReadLine().Split();
MapPosition dest = new MapPosition();
dest.Node1 = nodeList[int.Parse(token[0])];
dest.Node2 = nodeList[int.Parse(token[1])];
dest.DivRatio1 = double.Parse(token[2]);
dest.DivRatio2 = double.Parse(token[3]);
Queue <Command> commands = new Queue <Command>();
double dist;
FindShortestRoute(dest, commands, out dist);
Console.WriteLine($"최단 거리: {dist}");
while (commands.Count > 0)
{
Console.WriteLine(commands.Dequeue().ToString());
}
Console.WriteLine("아무키나 누르면 디버그를 종료합니다...");
Console.ReadKey(true);
}