private List <string> createMovementPath()
{
List <string> path = new List <string>();
for (int i = 0; i < knownPositions.Count() - 1; i++)
{
Position current = knownPositions.ElementAt(i);
Position next = knownPositions.ElementAt(i + 1);
if (current.getLeft().Equals(next))
{
path.Add("Left");
}
if (current.getRight().Equals(next))
{
path.Add("Right");
}
if (current.getUp().Equals(next))
{
path.Add("Up");
}
if (current.getDown().Equals(next))
{
path.Add("Down");
}
}
return(path);
}
public override string[] calculatePath()
{
List <string> path = new List <string>();
Random random = new Random(DateTime.Now.Millisecond);
while (goalPos.Count > 0)
{
int agentPosX = agent.getPosition().getX();
int agentPosY = agent.getPosition().getY();
if (valueMap[agentPosX][agentPosY]++ > 10000)
{
break;
}
int left, right, up, down;
Position checkingPosition = agent.getPosition();
if (!isWall(checkingPosition.getLeft()))
{
left = random.Next(1, 1000);
}
else
{
left = 0;
}
if (!isWall(checkingPosition.getRight()))
{
right = random.Next(1, 1000);
}
else
{
right = 0;
}
if (!isWall(checkingPosition.getUp()))
{
up = random.Next(1, 1000);
}
else
{
up = 0;
}
if (!isWall(checkingPosition.getDown()))
{
down = random.Next(1, 1000);
}
else
{
down = 0;
}
switch (getBestDirection(right, left, up, down))
{
case RIGHT:
agent.goRight();
break;
case LEFT:
agent.goLeft();
break;
case UP:
agent.goUp();
break;
case DOWN:
agent.goDown();
break;
default:
break;
}
if (goalPos.Contains(agent.getPosition()))
{
path.AddRange(agent.getPath());
agent.reset(agent.getPosition());
goalPos.Remove(agent.getPosition());
}
}
return(path.ToArray());
}
public void goUp()
{
position = position.getUp();
clearUselessPathOptions();
knownPositions.Add(position);
}
