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.idea/.idea.RobotIntelFinal/.idea/contentModel.xml

@@ -11,7 +11,6 @@
         <e p="IModule.cs" t="Include" />
         <e p="ISimRunner.cs" t="Include" />
         <e p="IUserConsole.cs" t="Include" />
-        <e p="IVehicle.cs" t="Include" />
         <e p="JsonDeserializor.cs" t="Include" />
         <e p="Maps" t="Include">
           <e p="Cell.cs" t="Include" />
@@ -39,9 +38,13 @@
         <e p="Program.cs" t="Include" />
         <e p="SimRunner.cs" t="Include" />
         <e p="UserConsole.cs" t="Include" />
-        <e p="Vehicle.cs" t="Include" />
+        <e p="Vehicle" t="Include">
-        <e p="VehicleConfiguration.cs" t="Include" />
+          <e p="DetectionHead.cs" t="Include" />
-        <e p="VehicleConfiguration.json" t="Include" />
+          <e p="IVehicle.cs" t="Include" />
+          <e p="Vehicle.cs" t="Include" />
+          <e p="VehicleConfiguration.cs" t="Include" />
+          <e p="VehicleConfiguration.json" t="Include" />
+        </e>
       </e>
       <e p="packages" t="ExcludeRecursive" />
       <e p="RobotIntelFinal.sln" t="IncludeFlat" />

.idea/.idea.RobotIntelFinal/.idea/workspace.xml

@@ -18,19 +18,23 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="dafcaeb7-80aa-43a3-a480-786fafb78c0b" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/contentModel.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/.idea.RobotIntelFinal/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/ConsoleApp.csproj" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/CoreModule.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.cs" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/ConsoleApp/VehicleConfiguration.json" beforeDir="false" afterPath="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.json" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -77,15 +81,21 @@
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/MapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMapFactory.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/IVehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IMap.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/UserConsole.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Program.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/SimRunner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/IPathPlanner.cs" />
-      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
       <option value="$PROJECT_DIR$/ConsoleApp/Maps/IHexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/HexMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/SquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Maps/ISquareMap.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/DetectionHead.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/Vehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/VehicleConfiguration.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/Vehicle/IVehicle.cs" />
+      <option value="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" />
     </changedPaths>
   </component>
   <component name="ProjectId" id="1lIZ7IfsUjzqV2Jb1obOFvGFAfp" />
@@ -163,7 +173,7 @@
       <workItem from="1607982179018" duration="634000" />
       <workItem from="1607983288378" duration="86000" />
       <workItem from="1607983862958" duration="7777000" />
-      <workItem from="1607993290571" duration="16131000" />
+      <workItem from="1607993290571" duration="28469000" />
     </task>
     <servers />
   </component>
@@ -195,14 +205,27 @@
           <line>34</line>
           <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanner.cs" initialLine="34" containingFunctionPresentation="method 'GenerateOptimalSquarePath'">
             <startOffsets>
-              <option value="1466" />
+              <option value="1512" />
             </startOffsets>
             <endOffsets>
-              <option value="1482" />
+              <option value="1528" />
             </endOffsets>
           </properties>
           <option name="timeStamp" value="24" />
         </line-breakpoint>
+        <line-breakpoint enabled="true" type="DotNet Breakpoints">
+          <url>file://$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs</url>
+          <line>61</line>
+          <properties documentPath="$PROJECT_DIR$/ConsoleApp/PathPlanners/PathPlanner.cs" initialLine="62" containingFunctionPresentation="method 'GenerateOptimalHexPath'">
+            <startOffsets>
+              <option value="2509" />
+            </startOffsets>
+            <endOffsets>
+              <option value="2530" />
+            </endOffsets>
+          </properties>
+          <option name="timeStamp" value="34" />
+        </line-breakpoint>
       </breakpoints>
     </breakpoint-manager>
   </component>

ConsoleApp/ConsoleApp.csproj

@@ -19,7 +19,7 @@
     </ItemGroup>
 
     <ItemGroup>
-      <None Update="VehicleConfiguration.json">
+      <None Update="Vehicle\VehicleConfiguration.json">
         <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       </None>
     </ItemGroup>

ConsoleApp/Maps/HexMap.cs

@@ -1,6 +1,8 @@
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using HexCore;
+using ImTools;
 
 namespace ConsoleApp.Maps
 {
@@ -13,6 +15,10 @@ namespace ConsoleApp.Maps
 
         public Graph Graph { get; }
         
+        public OffsetTypes OffsetType { get; }
+        public MovementType DefaultMovement { get; }
+
+
         /// <summary>
         /// Generate Hex map with cells of 25cm X 25cm
         /// </summary>
@@ -20,6 +26,8 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public HexMap(int x, int y)
         {
+            //Set Offset Type for 2d -> 3d conversion
+            OffsetType = OffsetTypes.OddRowsRight;
             //convert to cm
             x *= 100;
             y *= 100;
@@ -34,12 +42,12 @@ namespace ConsoleApp.Maps
             var unclearedTerrain = new TerrainType(1, "uncleared");
             var clearedTerrain = new TerrainType(2, "cleared");
             
-            var movement = new MovementType(1, "default");
+            DefaultMovement = new MovementType(1, "default");
             var movementTypes = new MovementTypes(
                 new ITerrainType[] { unclearedTerrain, clearedTerrain }, 
                 new Dictionary<IMovementType, Dictionary<ITerrainType, int>>
                 {
-                    [movement] = new Dictionary<ITerrainType, int>
+                    [DefaultMovement] = new Dictionary<ITerrainType, int>
                     {
                         [unclearedTerrain] = 1,
                         [clearedTerrain] = 2
@@ -49,5 +57,6 @@ namespace ConsoleApp.Maps
             Graph = GraphFactory.CreateRectangularGraph(Width, Height, movementTypes, unclearedTerrain);
         }
 
+       
     }
 }

ConsoleApp/Maps/IHexMap.cs

@@ -5,5 +5,9 @@ namespace ConsoleApp.Maps
     public interface IHexMap
     {
         Graph Graph { get; }
+        OffsetTypes OffsetType { get; }
+        int Width { get; }
+        int Height { get; }
+        MovementType DefaultMovement { get; }
     }
 }

ConsoleApp/Maps/ISquareMap.cs

@@ -12,5 +12,6 @@ namespace ConsoleApp.Maps
         Cell GetCell(int x, int y);
         int Height { get; }
         int Width { get; }
+        List<Cell> GetRange(Cell centerCell, int radius);
     }
 }

ConsoleApp/Maps/MapFactory.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using ConsoleApp.Vehicle;
 
 namespace ConsoleApp.Maps
 {

ConsoleApp/Maps/SquareMap.cs

@@ -1,7 +1,6 @@
 using System;
 using System.Collections.Generic;
-using HexCore;
+
-using ImTools;
 
 namespace ConsoleApp.Maps
 {
@@ -20,7 +19,6 @@ namespace ConsoleApp.Maps
         /// <param name="y"></param>
         public SquareMap(int x, int y)
         {
-            HexGraph = default;
             //convert to cm
             x *= 100;
             y *= 100;
@@ -64,7 +62,48 @@ namespace ConsoleApp.Maps
             return possibles;
         }
 
-        public Graph HexGraph { get; }
+        public List<Cell> GetRange(Cell centerCell, int radius)
+        {
+            var inRange = new List<Cell>();
+            var cx = centerCell.X;
+            var cy = centerCell.Y;
+            var topLeft = GetTopCellInBoundingBox(cx, cy, radius);
+            var bottomRight = GetBottomCellInBoundingBox(cx, cy, radius);
+            for (var i = topLeft.X; i < bottomRight.X; i++)
+            {
+                for (var j = bottomRight.Y; j < topLeft.Y; j++)
+                {
+                    if (Math.Pow(i - cx, 2) + Math.Pow(j - cy, 2) < Math.Pow(radius,2))
+                    {
+                        inRange.Add(Map[i,j]);
+                    }
+                }
+            }
+            return inRange;
+        }
+
+        private Cell GetTopCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int topX, topY;
+            if (cy + radius > Height) topY = Height;
+            else
+                topY = cy + radius;
+            if (cx - radius < 0) topX = 0;
+            else
+                topX = cx - radius;
+            return Map[topX, topY];
+        }
+        private Cell GetBottomCellInBoundingBox(int cx, int cy, int radius)
+        {
+            int bottomX, bottomY;
+            if (cy - radius > 0) bottomY = 0;
+            else
+                bottomY = cy - radius;
+            if (cx + radius < Width) bottomX = Width;
+            else
+                bottomX = cx + radius;
+            return Map[bottomX, bottomY];
+        }
 
         public Cell GetCell(int x, int y) => Map[x, y];
 

ConsoleApp/PathPlanners/IPathPlanner.cs

@@ -1,12 +1,13 @@
 using System.Collections.Generic;
 using ConsoleApp.Maps;
+using ConsoleApp.Vehicle;
 
 namespace ConsoleApp.PathPlanners
 {
     public interface IPathPlanner
     {
         Queue<ICell> GenerateOptimalSquarePath(ISquareMap map, IVehicle vehicle);
-        Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle);
+        Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle);
     }
     
 }

ConsoleApp/PathPlanners/PathPlanner.cs

@@ -1,6 +1,8 @@
 using System;
 using System.Collections.Generic;
 using ConsoleApp.Maps;
+using ConsoleApp.Vehicle;
+using HexCore;
 
 namespace ConsoleApp.PathPlanners
 {
@@ -11,7 +13,7 @@ namespace ConsoleApp.PathPlanners
             var path = new Queue<ICell>();
             var myCell = map.StartingCell;
             var finished = false;
-            var width_cm = (double)(vehicle.DetectorWidth) * 100;
+            var width_cm = (double)(vehicle.DetectorRadius) * 100 * 2;
             var swathOffset = (int)Math.Floor((decimal) (width_cm) / 25) + 1;
             var currentHeading = GlobalDirection.North;
             while (!finished)
@@ -53,8 +55,11 @@ namespace ConsoleApp.PathPlanners
             return path;
         }
         
-        public Queue<ICell> GenerateOptimalHexPath(HexMap hexMap, IVehicle vehicle)
+        public Queue<ICell> GenerateOptimalHexPath(IHexMap hexMap, IVehicle vehicle)
         {
+            // var t = hexMap.Graph.GetMovementRange(
+            //     new Coordinate2D(0, 0, hexMap.OffsetType), 2, hexMap.DefaultMovement);
+            // Console.WriteLine(t);
             throw new NotImplementedException();
         }
     }

ConsoleApp/SimRunner.cs

@@ -4,6 +4,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using ConsoleApp.Maps;
 using ConsoleApp.PathPlanners;
+using ConsoleApp.Vehicle;
 using HexCore;
 
 namespace ConsoleApp
@@ -39,7 +40,7 @@ namespace ConsoleApp
         {
             var hexMap = _mapFactory.GetHexMap();
             _vehicle.CurrentHexCell = new Coordinate2D(0, 0, OffsetTypes.OddRowsRight);
-            //var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
+            var optimalPath = _pathPlanner.GenerateOptimalHexPath(hexMap, _vehicle);
         }
         
 

ConsoleApp/Vehicle/DetectionHead.cs

@@ -0,0 +1,20 @@
+using System.Collections.Generic;
+using ConsoleApp.Maps;
+using HexCore;
+
+namespace ConsoleApp.Vehicle
+{
+    public class DetectionHead
+    {
+        public List<Coordinate2D> GetCoveredCells(
+            Graph graph,
+            Coordinate2D centerCoordinate,
+            int detectorRadius,
+            GlobalDirection direction) => graph.GetRange(centerCoordinate, detectorRadius);
+
+        public List<Cell> GetCoveredCells(
+            ISquareMap squareMap,
+            Cell centerCell,
+            int detectorRadius) => squareMap.GetRange(centerCell, detectorRadius);
+    }
+}

ConsoleApp/Vehicle/IVehicle.cs

@@ -1,13 +1,13 @@
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public interface IVehicle
     {
         int Length { get; }
         int Width { get; }
         int DetectorOffset { get;}
-        int DetectorWidth { get;}
+        int DetectorRadius { get;}
         HexCore.Coordinate2D CurrentHexCell { get; set; }
         Heading HexHeading { get; set; }
         Heading SquareHeading { get; set; }

ConsoleApp/Vehicle/Vehicle.cs

@@ -1,7 +1,6 @@
-using System;
 using ConsoleApp.Maps;
 
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public class Vehicle : IVehicle
     {
@@ -9,25 +8,25 @@ namespace ConsoleApp
         public int Width { get; }
 
         public int DetectorOffset { get;}
-        public int DetectorWidth { get;}
+        public int DetectorRadius { get;}
         public HexCore.Coordinate2D CurrentHexCell { get; set; }
         public Heading HexHeading { get; set; }
         public Heading SquareHeading { get; set; }
         public ICell CurrentSquareCell { get; set; }
+        public DetectionHead DetectionHead { get; }
         
 
         
         public Vehicle(IJsonDeserializor jsonDeserializor)
         {
-            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/VehicleConfiguration.json");
+            var config = jsonDeserializor.DeserializeObject<VehicleConfiguration>("/Users/brady.bodily/Documents/Repositories/CS5890_Robot_Intelligence/RobotIntelFinal/ConsoleApp/Vehicle/VehicleConfiguration.json");
             Length = config.Length;
             Width = config.Width;
-            DetectorWidth = config.DetectorWidth;
+            DetectorRadius = config.DetectorRadius;
             DetectorOffset = config.DetectorOffset;
             CurrentHexCell = default;
             CurrentSquareCell = default;
-            HexHeading = default;
+            DetectionHead = new DetectionHead();
-            SquareHeading = default;
         }
     }
 }

ConsoleApp/Vehicle/VehicleConfiguration.cs

@@ -1,10 +1,10 @@
-namespace ConsoleApp
+namespace ConsoleApp.Vehicle
 {
     public class VehicleConfiguration
     {
         public int Length { get; set; }
         public int Width { get; set; }
-        public int DetectorWidth { get; set; }
+        public int DetectorRadius { get; set; }
         public int DetectorOffset { get; set; }
     }
 }