void Environment::addWoodCutter() {
// Random location of WC's home
int wc_home_cell = rand() % unused.size();
unsigned hx = unused[wc_home_cell].first;
unsigned hy = unused[wc_home_cell].second;
unused.erase(unused.begin() + wc_home_cell);
// Random location of WC's work
int wc_work_cell = rand() % unused.size();
unsigned wx = unused[wc_work_cell].first;
unsigned wy = unused[wc_work_cell].second;
unused.erase(unused.begin() + wc_work_cell);
// Place WC either in home cell or work cell
int choice = rand() % 2;
woodcutter = new WoodCutter(hx, hy, wx, wy, choice);
if (choice)
setAgent(hx, hy, woodcutter);
else
setAgent(wx, wy, woodcutter);
point home = {hx, hy};
point work = {wx, wy};
rrh->map_data.woodcutter = make_pair(home, work);
}
void CFootBotUN::initLocalNavigation(TConfigurationNode& t_tree) {
hlAgent.Init(t_tree);
hlAgent.axisLength = axisLength;
orcaAgent.Init(t_tree);
orcaAgent.axisLength = axisLength;
hrvoAgent.Init(t_tree);
hrvoAgent.axisLength = axisLength;
localNavigationType = "HL";
if (NodeExists(t_tree, "local_navigation")) {
TConfigurationNode node = GetNode(t_tree, "local_navigation");
if (node.HasAttribute("type"))
GetNodeAttribute(node, "type", localNavigationType);
}
if (localNavigationType == "HL") {
localNavigationIndex = 2;
setAgent(hlAgent);
} else if (localNavigationType == "ORCA") {
localNavigationIndex = 0;
setAgent(orcaAgent);
} else if (localNavigationType == "HRVO") {
localNavigationIndex = 0;
setAgent(hrvoAgent);
} else {
throw "Navigation type not defined!";
return;
}
printf("INIT local nav %.3f %.3f", axisLength, agent->axisLength);
}
AgentCallbackLoginAction::AgentCallbackLoginAction(const std::string& agent, const std::string& exten, const std::string& context, bool ackCall, long wrapupTime) {
setAgent(agent);
setExten(exten);
setContext(context);
setAckCall(ackCall);
setWrapupTime(wrapupTime);
}
void Environment::addBear() {
int bear_cell = rand() % unused.size();
int bx = unused[bear_cell].first;
int by = unused[bear_cell].second;
bear = new Bear(bx, by);
// If Bear's range on RRH - try again
if (!checkRange(bear)) {addBear(); return;}
setAgent(bx, by, bear);
setBearFeel(bx, by);
unused.erase(unused.begin() + bear_cell);
for (int i = bx - 1; i <= bx + 1; i++)
for (int j = by - 1; j <= by + 1; j++)
if (checkBounds(i, j) && !(i == bx && j == by))
setBearFeel(i, j);
for (int i = 0; i < (int)unused.size(); i++) {
unsigned x = unused[i].first;
unsigned y = unused[i].second;
if (forest[x][y].feel_wolf || forest[x][y].feel_bear) {
unused.erase(unused.begin() + i);
i--;
}
}
}
void Environment::addGranny() {
int gr_cell = rand() % unused.size();
unsigned gx = unused[gr_cell].first;
unsigned gy = unused[gr_cell].second;
granny = new Granny(gx, gy);
setAgent(gx, gy, granny);
unused.erase(unused.begin() + gr_cell);
point gr = {gx, gy};
rrh->map_data.granny = gr;
}
void Environment::fillEnvironment() {
rrh = new RRH(0, 0);
setAgent(0, 0, rrh);
for (int i = 0; i < SIZE; i++)
for (int j = 0; j < SIZE; j++)
if (!(i == 0 && j == 0))
unused.push_back(make_pair(i, j));
addWolf();
addBear();
addWoodCutter();
addGranny();
}
void Environment::addWolf() {
int wolf_cell = rand() % unused.size();
unsigned wx = unused[wolf_cell].first;
unsigned wy = unused[wolf_cell].second;
wolf = new Wolf(wx, wy);
// If wolf's range on RRH - try again
if (!checkRange(wolf)) { addWolf(); return;}
setAgent(wx, wy, wolf);
unused.erase(unused.begin() + wolf_cell);
if (checkBounds(wx - 1, wy)) setWolfFeel(wx - 1, wy);
if (checkBounds(wx + 1, wy)) setWolfFeel(wx + 1, wy);
if (checkBounds(wx, wy - 1)) setWolfFeel(wx, wy - 1);
if (checkBounds(wx, wy + 1)) setWolfFeel(wx, wy + 1);
}
AgentCallbackLoginAction::AgentCallbackLoginAction(const std::string& agent, const std::string& exten) {
setAgent(agent);
setExten(exten);
}
void
iPAR::setAgent(const std::string& agname){
MetaObject *agent_obj=actionary->searchByNameObj(agname);
setAgent(agent_obj);
}
ec_gui::Actuator::Actuator(Agent *agent)
{
setAgent(agent);
}
Browser::Browser() {
setAgent("WebBrowser");
}
ec_gui::Sensor::Sensor(Agent *agent) : QObject(){
setAgent(agent);
}
void CMsgObject::changeParent(CMsgObject* newParent) {
p_Parent->removeChild(this);
p_Parent = newParent;
setAgent(newParent->p_agent);
}
