ccontroller.h

一种动态环境下的基于神经网络的机器人路径搜索

#ifndef CCONTROLLER_H
#define CCONTROLLER_H

//------------------------------------------------------------------------
//
//	Name: CController.h
//
//  Author: Mat Buckland 2002
//
//  Desc: Controller class for 'Smart Sweeper' example from the book 
//        Game AI Programming with Neural Nets and Genetic Algorithms. 
//
//------------------------------------------------------------------------
#include <vector>
#include <sstream>
#include <string>
#include <fstream>
#include <windows.h>

#include "CMinesweeper.h"
#include "CGenAlg.h"
#include "utils.h"
#include "C2DMatrix.h"
#include "SVector2D.h"
#include "CParams.h"

#include <fstream>


using namespace std;



class CController
{

private:

	vector<SGenome>	     m_vecThePopulation;

	vector<CMinesweeper> m_vecSweepers;

	//pointer to the GA
	CGenAlg*		         m_pGA;

	int					         m_NumSweepers;

	int					         m_NumWeightsInNN;
	int dk;

	//vertex buffer for the sweeper shape's vertices
	vector<SPoint>		   m_SweeperVB;

  //vertex buffer for objects
  vector<SPoint>       m_ObjectsVB;


	//stores the average fitness per generation for use 
	//in graphing.
	vector<double>		   m_vecAvFitness;

	//stores the best fitness per generation
	vector<double>		   m_vecBestFitness;


	//pens we use for the stats
	HPEN				m_RedPen;
	HPEN				m_BluePen;
	HPEN				m_GreenPen;
  HPEN        m_GreyPenDotted;
  HPEN        m_RedPenDotted;
	HPEN				m_OldPen;

  HBRUSH      m_RedBrush;
  HBRUSH      m_BlueBrush;
	
	//handle to the application window
	HWND				m_hwndMain;

	//toggles the speed at which the simulation runs
	bool				m_bFastRender;
	
	//cycles per generation
	int					m_iTicks;

	//generation counter
	int					m_iGenerations;

  //window dimensions
  int         cxClient, cyClient;

  void   PlotStats(HDC surface);

  void   CreateSensors(vector<SPoint> &sensors,
                                int            NumSensors,
                                double         range);




public:

	CController(HWND hwndMain);

	~CController();

    void changeobjects();
	void		Render(HDC surface);

	void		WorldTransform(vector<SPoint> &VBuffer,
                         SVector2D      vPos,
                         double         rotation,
                         double         scale);
	
	bool		Update();


	//accessor methods
	bool		FastRender()			{return m_bFastRender;}
	void		FastRender(bool arg)	{m_bFastRender = arg;}
	void		FastRenderToggle()		{m_bFastRender = !m_bFastRender;}

};


#endif