public Map(Rovio.BaseArena r, Control.ControlCollection c, int x, int y) { robot = r; maxY = 300 / 10; maxX = 260 / 10; finalMap = new bool[maxX, maxY]; isCellVisible = new bool[maxX, maxY]; preySensor = new bool[maxX, maxY]; preyProbability = new double[maxX, maxY]; obstacleSensor = new bool[maxX, maxY]; obstacleProbability = new double[maxX, maxY]; for (int i = 0; i < maxX; i++) { for (int j = 0; j < maxY; j++) { finalMap[i, j] = false; preyProbability[i, j] = 0.5; obstacleProbability[i, j] = 0.5; isCellVisible[i, j] = false; preySensor[i, j] = false; obstacleSensor[i, j] = false; } } SetPictureBox(c, ref picBoxBayes, ref bBayes, 260, 300, 0, 0); SetPictureBox(c, ref picBoxObstacle, ref bObstacle, 30, 30, -100, -100); SetPictureBox(c, ref picBoxPrey, ref bPrey, 3, 3, -100, -100); SetPictureBox(c, ref picBoxRovio, ref bRovio, 24, 27, -100, -100); SetPictureBox(c, ref picBoxCone, ref bCone, 138, 150, -500, -500); SetPictureBox(c, ref picBoxPath, ref bPath, 260, 300, 0, 0); picBoxBayes.BackColor = System.Drawing.Color.Transparent; picBoxPath.BackColor = System.Drawing.Color.Transparent; SetPictureBox(c, ref picBoxMap, ref bMap, 260, 300, x, y); picBoxMap.BackColor = System.Drawing.Color.Transparent; picBoxBayes.Location = new System.Drawing.Point(0, 0); DrawGraphics(); picBoxCone.Parent = picBoxBayes; picBoxRovio.Parent = picBoxMap; picBoxObstacle.Parent = picBoxBayes; picBoxPrey.Parent = picBoxBayes; picBoxBayes.Parent = picBoxMap; picBoxPath.Parent = picBoxBayes; }
/// <summary> /// Called from main form. Begin the update function and assign a robot to the map. /// </summary> /// <param name="r">Input robot.</param> public void SetUpdate(Rovio.BaseArena r) { robot = r; picBoxRovio.Location = new DPoint(100, 100); timer = new Timer(); timer.Tick += Update; timer.Start(); }