private void btnRobotPath_Click(object sender, EventArgs e)
{
if (this.rbBatchTest.Checked == true)
{
//ParameterTester tester = new ParameterTester(this);
//GdParameterTester tester = new GdParameterTester(this);
TeleportTester tester = new TeleportTester(this);
tester.Run();
MessageBox.Show("Finished batch test");
}
else
{
// apply parameters
_human.WingmanToleranceRange = int.Parse(tbWR.Text);
_human.SetObservationRange(int.Parse(tbHR.Text));
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(_map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
//graph.Print();
tograph.Draw();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph planGraph = planningGenerator.GetPathPlanningGraph(this.HumanPath, this.human.WingmanToleranceRange);
planGraph.Draw();
HexaPos startPos = _human.path[0];
PlanningGraphPruner pruner = new PlanningGraphPruner();
PathPlanningGraph newPlanGraph = pruner.GetPlanningGraph(planGraph, startPos);
newPlanGraph.Draw("PlanningGraph2");
PathPlanningGraph prunedPlanGraph = pruner.BackwardPrune(newPlanGraph);
prunedPlanGraph = pruner.ForwardPrune(prunedPlanGraph);
prunedPlanGraph.Draw("PrunedPlanningGraph");
/*
* ExhaustiveDFSPathPlanner planner = new ExhaustiveDFSPathPlanner(_map, _robot);
* HexaPath maxPath = planner.FindPath(prunedPlanGraph, startPos);
*
* Console.WriteLine("PATH BY EXHAUSTIVE DFS: " + maxPath.ToString());
*/
_planningForm = new PlanningForm(prunedPlanGraph, _map, _robot, startPos, _mapDrawer, _human.path);
_planningForm.Show();
}
}
public void Run()
{
for (int i = 0; i < trial_times; i++)
{
foreach (int WR in wingmanRange)
{
HexaPos startPos = this._mapForm.human.path[0];
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(this._mapForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph planGraph = planningGenerator.GetPathPlanningGraph(this._mapForm.HumanPath, WR);
PlanningGraphPruner pruner = new PlanningGraphPruner();
PathPlanningGraph newPlanGraph = pruner.GetPlanningGraph(planGraph, startPos);
PathPlanningGraph prunedPlanGraph = pruner.BackwardPrune(newPlanGraph);
prunedPlanGraph = pruner.ForwardPrune(prunedPlanGraph);
Robot robot = new Robot(this._mapForm.map);
Human human = new Human(this._mapForm.map);
foreach (int HR in humanRange)
{
this._mapForm.map.GetMapStateMgr().RandomizeValue();
human.SetObservationRange(HR);
double[,] localEntropy = this._mapForm.map.GetMapStateMgr().CopyEntropy();
human.Update(this._mapForm.HumanPath, localEntropy);
foreach (int RR in robotRange)
{
robot.SetObservationRange(RR);
Console.WriteLine("Trial Time: " + i.ToString() + " WR: " + WR.ToString() + " RR: " + RR.ToString() + " HR: " + HR.ToString());
HexaPath maxPath = new HexaPath();
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(this._mapForm.map, robot);
planner._localEntropy = localEntropy;
planner.iteratingOnce = false;
maxPath = planner.FindPath(prunedPlanGraph, startPos);
Console.WriteLine("PATH : " + maxPath.ToString());
// double[,] tempEntropy = (double[,])this._mapForm.map.GetMapStateMgr().CopyEntropy();
//double maxScore = robot.Score(maxPath, tempEntropy);
double maxScore = planner.finalMaxScore;
Console.WriteLine("SCORE: " + maxScore);
Console.WriteLine("");
PerformanceParameter param = new PerformanceParameter();
param.maxScore = maxScore;
param.problemSize = planner.problemSize;
param.scoreAtFirstRun = planner.scoreAtFirstRun;
param.exploredSize = planner.exploredSize;
param.totalRunTime = planner.totalRunTime;
param.hitOptimalRunTime = planner.hitOptimalRunTime;
param.robotRange = RR;
param.humanRange = HR;
param.wingmanRange = WR;
param.runIndex = i;
this.performanceList.Add(param);
}
}
}
}
save(prefix);
}
private void tbPlan_Click(object sender, EventArgs e)
{
int planLength = 0;
if (this.tbPlanLength.Text != "")
{
planLength = Int32.Parse(this.tbPlanLength.Text);
}
else
{
planLength = 0;
}
Random rnd = new Random();
int start_x = this.mapViewForm.map.mapState.ActiveHex.posX;
int start_y = this.mapViewForm.map.mapState.ActiveHex.posY;
HexaPos pos = new HexaPos(start_x, start_y);
if (this.rbRandom.Checked == true)
{
HexaPath path = new HexaPath();
path.AddPos(pos);
for (int t = 0; t < planLength; t++)
{
int rndIdx = rnd.Next(5);
HexagonalMap.Direction direction = mapViewForm.map.directionList[rndIdx];
HexaPos newPos = mapViewForm.map.GetNext(path[t], direction);
path.AddPos(newPos);
}
LoadActivePath(path);
mapViewForm.Refresh();
}
else if (this.rbInfoMax.Checked == true)
{
InfoMaxPathPlanner planner
= new InfoMaxPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
tograph.Draw();
PlanningGraphGenerator planningGenerator = new PlanningGraphGenerator(tograph);
PathPlanningGraph graph = planningGenerator.GetPathPlanningGraph(startPos, Int32.Parse(this.tbPlanLength.Text));
graph.Draw();
planner.iteratingOnce = true;
HexaPath maxPath = planner.FindPath(graph, startPos);
LoadActivePath(maxPath);
mapViewForm.Refresh();
}
else if (this.rbDistMin.Checked == true)
{
DistMinPathPlanner planner = new DistMinPathPlanner(mapViewForm.map, (Robot)mapViewForm.robot);
HexaPos startPos = new HexaPos(mapViewForm.startHex.posX, mapViewForm.startHex.posY);
HexaPos endPos = new HexaPos(mapViewForm.endHex.posX, mapViewForm.endHex.posY);
TopologyGraphGenerator topologyGenerator = new TopologyGraphGenerator(mapViewForm.map);
TopologyGraph tograph = topologyGenerator.GetTopologyGraph();
HexaPath path = planner.FindPath(tograph, startPos, endPos);
LoadActivePath(path);
mapViewForm.Refresh();
}
}