Route *AnnealingAlgorithm::makeMutation(Route *route)
{
Route * result = new Route(route->getSize(),route->getAdjacencyMatrix());
for(unsigned int i = 0; i < route->getSize(); i++)
{
result->insertNode(i,route->at(i));
}
unsigned int firstPosition = 0;
unsigned int secondPosition = 0;
unsigned int tempNodeNumber = 0;
unsigned int tempNodeNumber2 = 0;
do
{
firstPosition = qrand() % route->getSize();
secondPosition = qrand() % route->getSize();
}
while(!((firstPosition != 0) && (secondPosition != 0)));
if(firstPosition > secondPosition)
{
unsigned int tempValue = firstPosition;
firstPosition = secondPosition;
secondPosition = tempValue;
}
if(firstPosition == secondPosition)
{
if(firstPosition > 1)
{
firstPosition = firstPosition - 1;
}
if(secondPosition != (result->getSize() - 1))
{
secondPosition = secondPosition + 1;
}
}
tempNodeNumber = route->at(firstPosition);
tempNodeNumber2 = route->at(secondPosition);
result->insertNode(firstPosition,-1);
result->insertNode(secondPosition,-2);
result->insertNode(firstPosition,tempNodeNumber2);
result->insertNode(secondPosition,tempNodeNumber);
return result;
}
Route *GeneticAlgorithm::crossbreedRoutes(Route *firstRoute, Route *secondRoute)
{
Route * result = new Route(firstRoute->getSize(),firstRoute->getAdjacencyMatrix());
//QMap<unsigned int,unsigned int> nodeMap;
QList<unsigned int> unusedNodes;
unsigned int firstPosition = 0;
unsigned int secondPosition = 0;
do
{
firstPosition = qrand() % firstRoute->getSize();
secondPosition = qrand() % firstRoute->getSize();
}
while(!((firstPosition != 0) && (secondPosition != 0)));
for(unsigned int m = 0; m < firstRoute->getSize(); m++)
{
unusedNodes.append(m);
}
if(firstPosition > secondPosition)
{
unsigned int tempValue = firstPosition;
firstPosition = secondPosition;
secondPosition = tempValue;
}
if(firstPosition == secondPosition)
{
if(firstPosition > 1)
{
firstPosition = firstPosition - 1;
}
if(secondPosition < (result->getSize() - 1))
{
secondPosition = secondPosition + 1;
}
}
result->insertNode(0,firstRoute->at(0));
unusedNodes.removeOne(firstRoute->at(0));
for(unsigned int i = firstPosition; i<=secondPosition; i++)
{
result->insertNode(i,firstRoute->at(i));
unusedNodes.removeOne(firstRoute->at(i));
}
for(unsigned int j = 1; j < firstPosition; j++)
{
if(!result->containsNode(secondRoute->at(j)))
{
result->insertNode(j,secondRoute->at(j));
unusedNodes.removeOne(secondRoute->at(j));
}
}
for(unsigned int k = secondPosition + 1; k < firstRoute->getSize(); k++)
{
if(!result->containsNode(secondRoute->at(k)))
{
result->insertNode(k,secondRoute->at(k));
unusedNodes.removeOne(secondRoute->at(k));
}
}
for(unsigned int n = 1; n < firstRoute->getSize(); n++)
{
if(result->at(n) == -1)
{
if(unusedNodes.size() != 0)
{
unsigned int randomNodePosition = qrand() % unusedNodes.size();
result->insertNode(n,unusedNodes.at(randomNodePosition));
unusedNodes.removeAt(randomNodePosition);
}
else
{
qDebug() << "Watch here";
}
}
}
//qDebug() << "First position:" << firstPosition << "Second position" << secondPosition;
return result;
}
int main()
{
PairWiseMove move;
Dimension atvsize(1,1);
Dimension coptersize(1,1);
Dimension searchSize(2,2);
VirtualQuadCopter copter(coptersize,searchSize,4,4);
VirtualATV atv(atvsize, 0, 0);
Map mapp;
Route atvRoute;
//atvRoute.push_back(WayPoint(1, 1));
Route * result = move.generatePairRoute(atvRoute, atv, copter, mapp )->first;
bool error = false;
if(result->getSize() == 1){ //Quad must move te atv
if(!(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0)){
error = true;
std::cout << "Quad must move to atv waypoint ERROR" << std::endl;
}
std::cout << "Quad must move te atv SUCCES" << std::endl;
}
else{
std::cout << "Quad must move te atv size ERROR" << std::endl;
}
copter = VirtualQuadCopter(coptersize,searchSize,0,0);
atv = VirtualATV(atvsize, 0, 0);
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(1, 1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!(result->getSize() == 0)){ //Atv is just in range of quadsight
error = true;
std::cout << "Atv is just in range of quadsight ERROR"<< std::endl;
}else{
std::cout << "Atv is just in range of quadsight SUCCES"<< std::endl;
}
atvRoute.clearRoute();
atvRoute.pushWayPoint( new WayPoint(2, 2));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 1){ //Atv is just out range of quadsight
if(!(result->getWaypoint(0)->x == 2 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << "Atv is just out range of quadsight waypoint ERROR"<< std::endl;
}
std::cout << "Atv is just out range of quadsight SUCCES" << std::endl;
}
else{
std::cout << "Atv is just out range of quadsight size ERROR"<< std::endl;
}
atvRoute.clearRoute();
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 0){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns empty pair route ERROR"<< std::endl;
}else{
std::cout << "Empty atv route returns empty pair route SUCCES"<< std::endl;
}
copter.goTo(1, 4);
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(!result->getSize() == 1){//Empty atv route returns...
error = true;
std::cout << "Empty atv route returns sync waypoint size ERROR"<< std::endl;
}
else{
if(result->getWaypoint(0)->x == 0 && result->getWaypoint(0)->y == 0){
std::cout << "Empty atv route returns sync waypoint SUCCES"<< std::endl;
}
else{
error = true;
std::cout << "Empty atv route returns sync waypoint waypoint ERROR"<< std::endl;
}
}
copter.goTo(0,0);
atvRoute.pushWayPoint(new WayPoint(1, 2));
atvRoute.pushWayPoint(new WayPoint(2, 3));
atvRoute.pushWayPoint(new WayPoint(4, 2));
atvRoute.pushWayPoint(new WayPoint(5, 3));
atvRoute.pushWayPoint(new WayPoint(-1, -1));
result = move.generatePairRoute(atvRoute, atv, copter, mapp)->first;
if(result->getSize() == 3){//Longer route
std::cout << "Long route size: Good, SUCCES" << std::endl;
if(!(result->getWaypoint(0)->x == 1 && result->getWaypoint(0)->y == 2)){
error = true;
std::cout << " Point 1,2 ERROR" << std::endl;
}
else{
std::cout << " Point 1,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(1)->x == 4 && result->getWaypoint(1)->y == 2)){
error = true;
std::cout << " Point 4,2 ERROR" << std::endl;
}
else{
std::cout << " Point 4,2 SUCCES" << std::endl;
}
if(!(result->getWaypoint(2)->x == -1 && result->getWaypoint(2)->y == -1)){
error = true;
std::cout << " Point -1,-1 ERROR" << std::endl;
}
else{
std::cout << " Point -1,-1 SUCCES" << std::endl;
}
}
else{
error = true;
std::cout << "Long route size: fault, ERROR" << std::endl;
}
return error;
}
