public Brain(MapExplored mapExplored, Robot robot) { _mapExplored = mapExplored; _robot = robot; // set first waypoint // CreateNextWaypoint(); }
public Sensor(Robot robot, Canvas canvas, Sight sight) { Robot = robot; Sight = sight; Canvas = canvas; BaseArea = new Lazy<CartesianArray<MapElementStatus>>( () => CartesianArray<MapElementStatus>.FromArray(GetBaseFieldMap(GetStructureBitmap(Canvas)))); }
private void buildMap() { // get reference of robot if (_map != null) { _robot = _map.Elements.OfType<Robot>().First(); _robot.Initialize(_mapArea, new Sensor(_robot, _mapArea, new Sight { Angle = 180, Reach = int.MaxValue })); _minimap = new Minimap(_minimapArea, _minimapAreaVisited, _robot.MapExplored); } }
public CartesianArray<MapElementStatus> GetRobotCenteredMapCopy(Robot robot, CartesianArray<MapElementStatus> src) { var copy = src.Clone(); copy.XOffset = - robot.StartPosition.X; copy.YOffset = - (src.Height - robot.StartPosition.Y); return copy; }