// constructor gets a reference to the world state
public Grid(ControllerWorldState ws, double WorldWidth, double WorldHeight, int numX, int numY)
{
this.prevLocations = new Dictionary<Robot, Coordinates>();
this.prevLocationsForMark = new Dictionary<Robot, Coordinates>();
this.WorldWidth = WorldWidth;
this.WorldHeight = WorldHeight;
this.NumSquaresX = numX;
this.NumSquaresY = numY;
cellData = new CellData[NumSquaresX, NumSquaresY];
for (int i = 0; i < NumSquaresX; i++)
{
for (int j = 0; j < NumSquaresY; j++)
{
cellData[i, j] = new CellData(i,j);
}
}
}
// public void Mark(Robot robot, bool continuous){
// if(!continuous || !prevLocationsForMark.ContainsKey(robot)){
// getGridLoc(robot.Location).pheromoneLevel++;
// return;
// }
// Coordinates newLoc = new Coordinates(robot.Location.X, robot.Location.Y);
// Coordinates prevLoc = new Coordinates(prevLocationsForMark[robot].X, prevLocations[robot].Y);
// Coordinates curLoc = new Coordinates(prevLocationsForMark[robot].X, prevLocations[robot].Y);
// Coordinates startLoc = new Coordinates(prevLocationsForMark[robot].X, prevLocations[robot].Y);
// // Mark continuously with interpolation
// // Assume previous location is already marked
// //Console.WriteLine("In Mark:: new location is for " + newLoc.X + ", " + newLoc.Y);
// CellData finalSpot = getGridLoc(newLoc);
// CellData startSpot = getGridLoc(startLoc);
// //Console.WriteLine("In Mark:: destination grid coordinates is " + finalSpot.row + ", " + finalSpot.col);
// //Console.WriteLine("In Mark: Getting grid loc current spot for " + curLoc.X + "," + curLoc.Y);
// CellData curSpot = getGridLoc(curLoc);
// //Console.WriteLine("In Mark:: old grid coordinates is " + finalSpot.row + ", " + finalSpot.col);
// if (finalSpot.row == curSpot.row && finalSpot.col == curSpot.col)
// {
// // don't mark anything
// return;
// }
// double incr = (double)Math.Min((WorldHeight / NumSquaresY), (WorldWidth / NumSquaresX)) / 5.0;
// double dX = robot.Location.X - prevLocationsForMark[robot].X;
// double dY = robot.Location.Y - prevLocationsForMark[robot].Y;
// double incrX;
// double incrY;
// if (dX != 0 || dY != 0)
// {
// incrX = incr * dX / (double)Math.Sqrt(dX * dX + dY * dY);
// incrY = incr * dY / (double)Math.Sqrt(dX * dX + dY * dY);
// }
// else
// {
// // 0 distance
// incrX = 0;
// incrY = 0;
// }
// //Console.WriteLine("Incrx is " + incrX + " and incrY is " + incrY);
//// Console.WriteLine("Start spot: " + curSpot.col + " " + curSpot.row);
// // Console.WriteLine("End spot: " + finalSpot.col + " " + finalSpot.row);
// do
// {
// CellData nextSpot;
// //Console.WriteLine("In Mark: Before incrementing, we were at location " + curLoc.X + ", " + curLoc.Y + " trying to reach " + newLoc.X + ", " + newLoc.Y);
// //Console.WriteLine("In Mark: We are at grid location " + curSpot.row + ", " + curSpot.col + " trying to reach " + finalSpot.row + ", " + finalSpot.col);
// // Increment X and Y
// curLoc.X += incrX;
// curLoc.Y += incrY;
// //Console.WriteLine("In Mark: After incrementing, we are at location " + curLoc.X + ", " + curLoc.Y + " trying to reach " + newLoc.X + ", " + newLoc.Y);
// // Get next grid spot
// nextSpot = getGridLoc(curLoc);
// // Console.WriteLine("Current spot: " + nextSpot.col + " " + nextSpot.row);
// // If different mark it
// if (nextSpot != curSpot)
// {
// nextSpot.pheromoneLevel++;
// curSpot = nextSpot;
// }
// //if (!inBounds(curSpot, startSpot, finalSpot))
// //{
// // break;
// //}
// } while (curSpot.row != finalSpot.row || curSpot.col != finalSpot.col);
// return;
// }
public bool inBounds(CellData currentLocation, CellData startLocation, CellData finalLocation)
{
int px = currentLocation.col;
int py = currentLocation.row;
int maxx = Math.Max(startLocation.col, finalLocation.col);
int maxy = Math.Max(startLocation.row, finalLocation.row);
int minx = Math.Min(startLocation.col, finalLocation.col);
int miny = Math.Min(startLocation.row, finalLocation.row);
return (px <= maxx && px >= minx && py <= maxy && py >= miny);
}
