/// <summary>
/// Given the numPRMpoints and the obstacleRatio, calculate an approriate maximum distance an edge can be.
/// </summary>
/// <returns></returns>maximumDistance
///
private void createPRM()
{
PRMGraph = new Graph();
createPRMpoints();
createkEdges();
if (PRMGraph.AllNodes.Count > numPRMpoints)
{
int numberToRemove = PRMGraph.AllNodes.Count - numPRMpoints;
removeExtraPoints(numberToRemove);
}
else if (PRMGraph.AllNodes.Count < numPRMpoints)
{
int numToAdd = numPRMpoints - PRMGraph.AllNodes.Count;
addMorePoints(numToAdd);
}
}
void IXmlSerializable.ReadXml(XmlReader reader)
{
XmlSerializer graphSerializer = new XmlSerializer(typeof(Graph));
XmlSerializer doubleSerializer = new XmlSerializer(typeof(double));
XmlSerializer mapSerializer = new XmlSerializer(typeof(Field));
XmlSerializer vector2Serializer = new XmlSerializer(typeof(Vector2));
XmlSerializer polygonSerializer = new XmlSerializer(typeof(Polygon));
XmlSerializer intSerializer = new XmlSerializer(typeof(int));
bool wasEmpty = reader.IsEmptyElement;
reader.Read(); // read root tag
if (wasEmpty)
{
return;
}
while (reader.NodeType != XmlNodeType.EndElement)
{
if (reader.IsStartElement("PRMGraph"))
{
reader.ReadStartElement("PRMGraph");
PRMGraph = (Graph)graphSerializer.Deserialize(reader);
reader.ReadEndElement();
}
else if (reader.IsStartElement("numPRMpoints"))
{
reader.ReadStartElement("numPRMpoints");
numPRMpoints = (int)intSerializer.Deserialize(reader);
reader.ReadEndElement();
}
else if (reader.IsStartElement("PRMmap"))
{
reader.ReadStartElement("PRMmap");
PRMmap = (Field)mapSerializer.Deserialize(reader);
reader.ReadEndElement();
}
else if (reader.IsStartElement("mapPoint"))
{
reader.ReadStartElement("mapPoint");
mapPoint = (Vector2)vector2Serializer.Deserialize(reader);
reader.ReadEndElement();
}
else if (reader.IsStartElement("obstacles"))
{
if (reader.IsEmptyElement)
{
reader.ReadStartElement("obstacles");
}
else
{
reader.ReadStartElement("obstacles");
while (reader.NodeType != System.Xml.XmlNodeType.EndElement)
{
reader.ReadStartElement("obstacle");
Polygon p = (Polygon)polygonSerializer.Deserialize(reader);
reader.ReadEndElement();
obstacles.Add(p);
}
reader.ReadEndElement();
}
}
else if (reader.IsStartElement("maxDistance"))
{
reader.ReadStartElement("maxDistance");
maxDistance = (double)doubleSerializer.Deserialize(reader);
reader.ReadEndElement();
}
else if (reader.IsStartElement("obstacleRatio"))
{
reader.ReadStartElement("obstacleRatio");
obstacleRatio = (double)doubleSerializer.Deserialize(reader);
reader.ReadEndElement();
}
}
reader.ReadEndElement();
}
