public void setInitialTile(LocalVacuumEnvironmentPerceptTaskEnvironmentB vep) {
boolean dirty = (vep.getState().getLocState() == LocationState.Clean) ? false : true;
Tile t = new Tile(new Point(0, 0), false, false, dirty, vep.isOnBase());
rows = vep.getN();
cols = vep.getM();
this.setTile(t);
currentPosition = t;
if (vep.isOnBase()) this.setBase(t);
for (Point p : getAdjWalkablePoints(getCurrentPositionPoint())) unexploredPoints.add(p);
}
public void updateMap(LocalVacuumEnvironmentPerceptTaskEnvironmentB vep, Movement lastAction) {
/* we don't move in the last step */
if (lastAction == null) return;
Point p = MapUtils.neighbourFromDirection(getCurrentPositionPoint(), lastAction);
/* we hit an obstacle */
if (!vep.isMovedLastTime()) {
Tile t =
new Tile(
p, false, /* we need it?? TODO */ true, /* is an obstacles */
false, /* wall never dirty */ false); /* wall never base */
// ,
this.setTile(t);
updateUnexploredPointListNoMove();
} else {
// We moved
Tile t =
new Tile(
p,
false, /* we need it?? TODO */
false, /* is no an obstacles */
(vep.getState().getLocState() == LocationState.Dirty),
vep.isOnBase());
this.setTile(t);
if (vep.isOnBase()) setBase(t);
this.currentPosition = t;
updateUnexploredPointList();
}
// System.out.println(getCurrentPosition().getPoint());
if (!colsWallsDetected || !rowsWallsDetected) checkWalls();
}
