public PathFinder(ColliderContainer colliderContainer, ConfigurationSpace configurationSpace, Robot robot, LinearInterpolator linearInterpolator, DispatcherTimer timer)
{
this.colliderContainer = colliderContainer;
this.configurationSpace = configurationSpace;
this.robot = robot;
this.linearInterpolator = linearInterpolator;
this.timer = timer;
}
public PathFinder(ColliderContainer colliderContainer, ConfigurationSpace configurationSpace, Robot robot, LinearInterpolator linearInterpolator, DispatcherTimer timer)
{
this.colliderContainer = colliderContainer;
this.configurationSpace = configurationSpace;
this.robot = robot;
this.linearInterpolator = linearInterpolator;
this.timer = timer;
}
private void IntializeConfigurationSpace()
{
configurationSpace = new ConfigurationSpace();
configurationSpace.Init(Image);
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
}
private void IntializeConfigurationSpace()
{
configurationSpace = new ConfigurationSpace();
configurationSpace.Init(Image);
configurationSpace.MarkUnreachableCells(colliderContainer.anglesArray);
}