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 btnStart_Click(object sender, EventArgs e)
{
string methodName = "";
string methodShortName = "";
long startTime = 0;
long endTime = 0;
long deltaTime = 0;
double spendTime = 0.0;
HexaPath maxPath = new HexaPath();
startTime = DateTime.Now.Ticks;
if (_planMethod == planMethod.EX_DFS)
{
ExhaustiveDFSPathPlanner planner = new ExhaustiveDFSPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "EXHAUSTIVE DFS";
methodShortName = "EXDFS";
}
else if (_planMethod == planMethod.ITERATIVE_BACK_PROP)
{
IterativeBackPropPathPlanner planner = new IterativeBackPropPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE";
methodShortName = "ITBP";
}
else if (_planMethod == planMethod.SIMPLE_GREEDY)
{
SimpleGreedyPathPlanner planner = new SimpleGreedyPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "SIMPLE GREEDY";
methodShortName = "SG";
}
else if (_planMethod == planMethod.GENE_ALG)
{
GeneticAlgorithmPathPlanner planner = new GeneticAlgorithmPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "GENETIC ALGORITHM";
methodShortName = "GA";
}
else if (_planMethod == planMethod.BACK_PROP)
{
BackPropPathPlanner planner = new BackPropPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "BACK PROP";
methodShortName = "BP";
}
else if (_planMethod == planMethod.IT_BACK_PROP_ENH)
{
IterativeBackPropEnhPathPlanner planner = new IterativeBackPropEnhPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE ENH";
methodShortName = "ITBPE";
}
else if (_planMethod == planMethod.IT_BACK_PROP_RETRK)
{
IterativeBackPropRetrackPathPlanner planner = new IterativeBackPropRetrackPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERATIVE BACK PROPAGATE RETRK";
methodShortName = "ITBPR";
}
else if (_planMethod == planMethod.IT_BP_COMBO)
{
IterativeBackPropComboPathPlanner planner = new IterativeBackPropComboPathPlanner(_map, (Robot)_agent);
maxPath = planner.FindPath(_graph, _startPos);
methodName = "ITERTATIVE BACK PROP COMBO";
methodShortName = "ITBPCOM";
}
else if (_planMethod == planMethod.EXPAND_TREE_1)
{
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(_map, (Robot)_agent);
planner.iteratingOnce = true;
maxPath = planner.FindPath(_graph, _startPos);
//Console.WriteLine("EXCLUSIVE EXPANDING NODE NUM: " + planner.GetExclusiveExpandingNodeNum(_graph, _startPos));
methodName = "EXPANDING TREE ONE";
methodShortName = "EXP_TREE_1";
}
else if (_planMethod == planMethod.EXPAND_TREE_N)
{
TreeExpandingWithIterativeTrackingPathPlanner planner
= new TreeExpandingWithIterativeTrackingPathPlanner(_map, (Robot)_agent);
planner.iteratingOnce = false;
maxPath = planner.FindPath(_graph, _startPos);
// Console.WriteLine("EXCLUSIVE EXPANDING NODE NUM: " + planner.GetExclusiveExpandingNodeNum(_graph, _startPos));
methodName = "EXPANDING TREE N";
methodShortName = "EXP_TREE_N";
}
endTime = DateTime.Now.Ticks;
deltaTime = endTime - startTime;
spendTime = deltaTime / 10000.0;
Console.WriteLine("PATH BY " + methodName + " : " + maxPath.ToString());
txtBoxInfo.AppendText("PATH BY " + methodName + " : " + maxPath.ToString() + "\n");
double[,] tempEntropy = (double[, ])_map.GetMapStateMgr().CopyEntropy();
double maxScore = _agent.Score(maxPath, tempEntropy);
Console.WriteLine("SCORE: " + maxScore);
txtBoxInfo.AppendText("SCORE: " + maxScore + "\n");
Console.WriteLine("TIME SPENT: " + spendTime + "\n");
txtBoxInfo.AppendText("TIME SPENT: " + spendTime + " ms\n\n");
_agent.Update(maxPath, tempEntropy);
string filename = methodShortName + "-" + DateTime.Now.ToShortTimeString() + ".png";
filename = filename.Replace(":", "-");
_mapDrawer.DrawEnv(filename, tempEntropy, maxPath, Color.Green, _humanPath);
}