// Expand neighboring nodes
protected override List<LHCNode> GetNeighbors(Point parent, Point me)
{
List<LHCNode> Neighbors = new List<LHCNode>();
// We don't want the UAV to hover in PF because it will get stuck there
// So don't add self if UAV can hover
// Loop through all four directions (N, E, S, W)
for (int j = 0; j < 4; j++)
{
// Expand child
Point child = GetDirChild(j, me);
// Check if it's valid
if (ValidMove(parent, me, child))
{
LHCNode n = new LHCNode();
n.Loc = child;
n.p = GetPartialDetection(child);
Neighbors.Add(n);
}
}
return Neighbors;
}
// Function to pick which child node to follow.
protected int PickChildNode(Point me, List<LHCNode> neighbors, int identicalCount, int cur_T)
{
int index = 0;
List<LHCNode> NewList = new List<LHCNode>();
// Do this for PF but not Conv
float[] forces = PrepareTieBreaker(me, cur_T);
// Compute convolution/pf values for these child nodes with identical p values
for (int i = 0; i < identicalCount; i++)
{
LHCNode ln = new LHCNode();
ln.Loc = neighbors[i].Loc;
ln.p = TieBreaker(me, ln.Loc, cur_T, forces); ;
ln.oldindex = neighbors[i].oldindex;
NewList.Add(ln);
// Console.Write("(" + ln.Loc.X + "," + ln.Loc.Y + ")conv=" + ln.p + " ");
}
// Sort so best convolution/pf value nodes at top
NewList.Sort();
NewList.Reverse();
// Check if more than one neighbor with identical conv/pf value
// If so, randomly pick one
int identical = GetTopIdenticalCount(NewList);
if (identical == 1)
{
// Found node with highest conv/pf value
index = NewList[0].oldindex;
}
else
{
// Randomly pick a node if have same conv/pf vlaues
int i = r.Next(0, identical);
// Console.Write("random i=" + i + " ");
index = NewList[i].oldindex;
}
return index;
}
// Expand neighboring nodes (with end point)
protected virtual List<LHCNode> GetNeighbors(Point parent, Point me, Point end, int T_Left)
{
List<LHCNode> Neighbors = new List<LHCNode>();
// Add self if UAV can hover
if (curRequest.VehicleType == UAVType.Copter)
{
// Check if it's valid
if (ValidMove(parent, me, me, end, T_Left))
{
LHCNode n = new LHCNode();
n.Loc = me;
n.p = GetPartialDetection(me);
Neighbors.Add(n);
}
}
// Loop through all four directions (N, E, S, W)
for (int j = 0; j < 4; j++)
{
// Expand child
Point child = GetDirChild(j, me);
// Check if it's valid
if (ValidMove(parent, me, child, end, T_Left))
{
LHCNode n = new LHCNode();
n.Loc = child;
n.p = GetPartialDetection(child);
Neighbors.Add(n);
}
}
return Neighbors;
}
// When remaining time is only one more than the shortest distance of connecting all points
// Then we need to hover at one of the end points. Add that to the right segment.
private void HoverAtOneEndPoint(List<List<Point>> MidSegments)
{
// Find all ending points
List<LHCNode> LooseEnds = new List<LHCNode>();
for (int i = 0; i < MidSegments.Count; i++)
{
if (MidSegments[i].Count > 0)
{
Point me = MidSegments[i][MidSegments[i].Count - 1];
LHCNode node = new LHCNode();
node.Loc = me;
node.p = GetPartialDetection(me);
LooseEnds.Add(node);
}
}
// Decide which one is the best.
int indexOfnext = 0;
Point p = new Point();
if (LooseEnds.Count > 1)
{
FindNodeToGoTo(p, ref LooseEnds, ref indexOfnext);
}
// Add node to path and then collect probability (zero it out)
Point bestPoint = LooseEnds[indexOfnext].Loc;
for (int i = 0; i < MidSegments.Count; i++)
{
if (MidSegments[i].Count > 0)
{
Point me = MidSegments[i][MidSegments[i].Count - 1];
if (me.X == bestPoint.X && me.Y == bestPoint.Y)
{
MidSegments[i].Add(bestPoint);
break;
}
}
}
mCurDist[bestPoint.Y, bestPoint.X] = VacuumProbability(bestPoint);
}
// Function to pick which child node to follow.
protected int PickChildNode(Point me, List<LHCNode> neighbors, int identicalCount)
{
int index = 0;
List<LHCNode> NewList = new List<LHCNode>();
// Compute convolution values for these child nodes with identical p values
for (int i = 0; i < identicalCount; i++)
{
LHCNode ln = new LHCNode();
ln.Loc = neighbors[i].Loc;
ln.p = TieBreaker(me, ln.Loc); ;
ln.oldindex = neighbors[i].oldindex;
NewList.Add(ln);
}
// Sort so best convolution value nodes at top
NewList.Sort();
NewList.Reverse();
// Check if more than one neighbor with identical conv value
// If so, randomly pick one
int identical = GetTopIdenticalCount(NewList);
if (identical == 1)
{
// Found node with highest conv value
index = NewList[0].oldindex;
}
else
{
// Randomly pick a node if have same conv vlaues
int i = r.Next(0, identical);
index = NewList[i].oldindex;
}
return index;
}
