扫地机器人仿真实验C++

// CController.cpp: implementation of the CController class. // ////////////////////////////////////////////////////////////////////// #include "CController.h" ////////////////////////////////////////////////////////////////////// // Construction/Destruction ////////////////////////////////////////////////////////////////////// //these hold the geometry of the sweepers and the mines const int NumSweeperVerts = 16; const SPoint sweeper[NumSweeperVerts] = {SPoint(-1, -1), SPoint(-1, 1), SPoint(-0.5, 1), SPoint(-0.5, -1), SPoint(0.5, -1), SPoint(1, -1), SPoint(1, 1), SPoint(0.5, 1), SPoint(-0.5, -0.5), SPoint(0.5, -0.5), SPoint(-0.5, 0.5), SPoint(-0.25, 0.5), SPoint(-0.25, 1.75), SPoint(0.25, 1.75), SPoint(0.25, 0.5), SPoint(0.5, 0.5)}; const int NumObjectVerts = 42; const SPoint objects[NumObjectVerts] = {SPoint(80, 60), SPoint(200, 60), SPoint(200, 60), SPoint(200, 100), SPoint(200, 100), SPoint(160, 100), SPoint(160, 100), SPoint(160, 200), SPoint(160, 200), SPoint(80, 200), SPoint(80, 200), SPoint(80, 60), SPoint(250, 100), SPoint(300, 40), SPoint(300, 40), SPoint(350, 100), SPoint(350, 100), SPoint(250, 100), SPoint(220, 180), SPoint(320, 180), SPoint(320, 180), SPoint(320, 300), SPoint(320, 300), SPoint(220, 300), SPoint(220, 300), SPoint(220, 180), SPoint(12, 15), SPoint(380, 15), SPoint(380, 15), SPoint(380, 360), SPoint(380, 360), SPoint(12, 360), SPoint(12, 360), SPoint(12, 340), SPoint(12, 340), SPoint(100, 290), SPoint(100, 290), SPoint(12, 240), SPoint(12, 240), SPoint(12, 15)}; //---------------------------------------constructor--------------------- // // initilaize the sweepers, their brains and the GA factory // //----------------------------------------------------------------------- CController::CController(HWND hwndMain) : m_NumSweepers(CParams::iNumSweepers), m_pGA(NULL), m_bFastRender(false), m_iTicks(0), m_hwndMain(hwndMain), m_iGenerations(0), cxClient(CParams::WindowWidth), cyClient(CParams::WindowHeight) { //let's create the mine sweepers for (int i = 0; i < m_NumSweepers; ++i) { m_vecSweepers.push_back(CMinesweeper()); } //get the total number of weights used in the sweepers //NN so we can initialise the GA m_NumWeightsInNN = m_vecSweepers[0].GetNumberOfWeights(); //calculate the neuron placement in the weight vector vector<int> SplitPoints = m_vecSweepers[0].CalculateSplitPoints(); //initialize the Genetic Algorithm class m_pGA = new CGenAlg(m_NumSweepers, CParams::dMutationRate, CParams::dCrossoverRate, m_NumWeightsInNN, SplitPoints); //Get the weights from the GA and insert into the sweepers brains m_vecThePopulation = m_pGA->GetChromos(); for (int i = 0; i < m_NumSweepers; i++) { m_vecSweepers[i].PutWeights(m_vecThePopulation[i].vecWeights); } //create the pens for the graph drawing m_BluePen = CreatePen(PS_SOLID, 1, RGB(0, 0, 255)); m_RedPen = CreatePen(PS_SOLID, 1, RGB(255, 0, 0)); m_GreenPen = CreatePen(PS_SOLID, 1, RGB(0, 255, 0)); m_GreyPenDotted = CreatePen(PS_DOT, 1, RGB(200, 200, 200)); m_RedPenDotted = CreatePen(PS_DOT, 1, RGB(250, 200, 200)); m_OldPen = NULL; //and the brushes m_BlueBrush = CreateSolidBrush(RGB(0, 0, 244)); m_RedBrush = CreateSolidBrush(RGB(150, 0, 0)); //fill the vertex buffers for (int i = 0; i < NumSweeperVerts; ++i) { m_SweeperVB.push_back(sweeper[i]); } for (int i = 0; i < NumObjectVerts; ++i) { m_ObjectsVB.push_back(objects[i]); } } //--------------------------------------destructor------------------------------------- // //-------------------------------------------------------------------------------------- CController::~CController() { if (m_pGA) { delete m_pGA; } DeleteObject(m_BluePen); DeleteObject(m_RedPen); DeleteObject(m_GreenPen); DeleteObject(m_OldPen); DeleteObject(m_GreyPenDotted); DeleteObject(m_RedPenDotted); DeleteObject(m_BlueBrush); DeleteObject(m_RedBrush); } //---------------------WorldTransform-------------------------------- // // sets up the translation matrices for the mines and applies the // world transform to each vertex in the vertex buffer passed to this // method. //------------------------------------------------------------------- void CController::WorldTransform(vector<SPoint> &VBuffer, SVector2D vPos, double rotation, double scale) { //create the world transformation matrix C2DMatrix matTransform; //scale matTransform.Scale(scale, scale); //rotate matTransform.Rotate(rotation); //translate matTransform.Translate(vPos.x, vPos.y); //transform the ships vertices matTransform.TransformSPoints(VBuffer); } //-------------------------------------Update--------------------------------------- // // This is the main workhorse. The entire simulation is controlled from here. // // The comments should explain what is going on adequately. //-------------------------------------------------------------------------------------- bool CController::Update() { //run the sweepers through CParams::iNumTicks amount of cycles. During this loop each //sweepers NN is constantly updated with the appropriate information