mazeStatus = " [ "+myMaze.width+" X "+myMaze.height+" Maze, Wall Penalty:"+((Wall)myMaze.walls.get(0)).penalty +"] | ";					algorithmStatus = " Prioritized Sweeping --> Click Initialize";										sqSize = (int)Math.min(Math.floor((this.getSize().width-X-10)/myMaze.width),							 		  Math.floor((this.getSize().height-Y-10)/myMaze.height));										if(sqSize>200)                        sqSize=200;										sqSizeTextField.setText(""+sqSize);									} catch(Exception e) {					Utility.show(e.getMessage());				}				ps=null;			} 			repaint();		}				else if(evt.getActionCommand().equals("Initialize") && myMaze!=null) {			Utility.show("prioritized sweeping");						double pjog = Double.parseDouble(pjogTextField.getText());			int MaxBackUps = Integer.parseInt(jMaxBackUpsTextField.getText());			double epsilon = Double.parseDouble((jEpsilonTextField.getText()));			double tinyThreshold = Double.parseDouble((jEpsilonTextField.getText()));						ps = new PrioritizedSweeping(myMaze,pjog, epsilon,MaxBackUps,tinyThreshold);			algorithmStatus = " Prioritized Sweeping ";			repaint();		}		else if (evt.getActionCommand().equals("Update") && ps!=null) {		    ps.setProperty(PrioritizedSweeping.Properties.PJOG,pjogTextField.getText());		    ps.setProperty(PrioritizedSweeping.Properties.Epsilon,jEpsilonTextField.getText());		    ps.setProperty(PrioritizedSweeping.Properties.MaxBackups,jMaxBackUpsTextField.getText());		    ps.setProperty(PrioritizedSweeping.Properties.TinyThreshold,jTinyThresholdTextField.getText());		}				else if (evt.getActionCommand().equals("Episode")) {			Utility.show("Episode");			int delay = Integer.parseInt(jDelayTextField.getText());			if(ps!=null) {				while(!ps.step()) {				    if(Animate)				    {				        Utility.delay(delay);				        myUpdate(getGraphics());				    }				}				repaint();			}		}		else if(evt.getActionCommand().equals("Step")) {			Utility.show("step");			if(ps!=null)				if(ps.step()) {					jStatusLabel.setText("Goal Reached");				}			repaint();		}		else if (evt.getActionCommand().equals("Cycles")) {			Utility.show("Cycles");			int delay = Integer.parseInt(jDelayTextField.getText());			int numCycles = Integer.parseInt(jCyclesTextField.getText());			if(ps!=null) {			    for(int i=0; i<numCycles; i++)			    {					while(!ps.step()) {					    if(Animate)					    {					        Utility.delay(delay);					        myUpdate(getGraphics());					    }					}			    }				repaint();			}		}		else if(evt.getActionCommand().equals("Refresh")) {			Utility.show("Refresh");			repaint();		}		else if(evt.getSource().getClass().getName().equals("javax.swing.JTextField")){            repaint();        }		else if(evt.getSource().getClass().getName().equals("javax.swing.JCheckBox")){			JCheckBox jcb = (JCheckBox)evt.getSource();						if(jcb.getText().equals("Show Values"))				ShowValue = jcb.isSelected();						if(jcb.getText().equals("Show Policy"))				ShowPolicy = jcb.isSelected();						if(jcb.getText().equals("Animate"))				Animate = jcb.isSelected();						repaint();		}	}		public void paint(Graphics g)	{	    super.paint(g);		this.myUpdate(g);	}		public void myUpdate(Graphics g)	{		jSeparator1.setSize(4,jPanel.getBounds().height-2);		jStatusLabel.setText(mazeStatus+algorithmStatus);		showGrid(getGraphics());	}		public void showGrid(Graphics g)	{		sqSize = Integer.parseInt(sqSizeTextField.getText());				if(ps!=null) {			drawValues(g);			if(ShowPolicy)				drawPolicy(g);		}		if(myMaze!=null) {			drawMaze(g);			drawGoal(g);			drawWalls(g);		}		if(ps!=null)		    drawCurrPosition(g, ps.getCurrState());		if(ps!=null && ps.pQueue!=null)		{//			drawQueue(g);		}			}	/*	void drawQueue(Graphics g)	{		Vector pq = ps.pQueue.getQueue();		StateActionInfo sap;		g.setColor(Color.white);		int x,y;		double val;		for(int i=0;i<pq.size();i++)		{			sap = (StateActionInfo)pq.get(i);//			System.out.println("interesting state= "+sap.state.x+" "+sap.state.y);			x = sap.state.x*sqSize;			y = (myMaze.height - sap.state.y)*sqSize;			val = sap.priority;			g.drawString(df.format(val),x+X+5,y+Y+5);		}	}*/		void drawMaze(Graphics g)	{	//	g.setColor(new Color(200,200,250));	//	g.fillRect(X,Y,sqSize*myMaze.width,sqSize*myMaze.height);		g.setColor(Color.black);		for (int counter = 0 ; counter <= myMaze.width; counter++) {			g.drawLine(X+sqSize*counter, Y+0, X+sqSize*counter, Y+sqSize*myMaze.height);		}		for (int counter = 0 ; counter <= myMaze.height; counter++) {			g.drawLine(X+0,Y+sqSize*counter,X+sqSize*myMaze.width,Y+sqSize*counter);		}	}		void drawGoal(Graphics g)	{		Vector goals = myMaze.goals;		State s;		for (int i=0;i<goals.size();i++)		{			s = (State)goals.get(i);			GraphicsUtil.fillRect(g, X+s.x*sqSize+1, Y+(myMaze.height-1-s.y)*sqSize+1, sqSize-2, sqSize-2, GoldColor);		}	}		void drawWalls(Graphics g)	{		GraphicsUtil gr = new GraphicsUtil();		int aX, aY, bX, bY;	//start and end points of the wall				for (int i=0;i<myMaze.walls.size();i++)		{			Wall w = (Wall)myMaze.walls.get(i);			int nodeX = w.x;			int nodeY = w.y;			switch(w.dir)			{			case Wall.UP:				aX = nodeX*sqSize;				bX = (nodeX+1)*sqSize;				aY = (myMaze.height - nodeY - 1)*sqSize;				bY = (myMaze.height - nodeY - 1)*sqSize;				//Utility.show("up wall ax,ay,bx,by= "+aX+","+aY+","+bX+","+bY);				GraphicsUtil.drawLine(g,X+aX,Y+aY,X+bX,Y+bY,5);				break;			case Wall.DOWN:				aX = nodeX*sqSize;				bX = (nodeX+1)*sqSize;				aY = (myMaze.height - nodeY)*sqSize;				bY = (myMaze.height - nodeY)*sqSize;				GraphicsUtil.drawLine(g,X+aX,Y+aY,X+bX,Y+bY,5);				break;			case Wall.RIGHT:				aX = (nodeX+1)*sqSize;				bX = (nodeX+1)*sqSize;				aY = (myMaze.height-nodeY-1)*sqSize;				bY = (myMaze.height-nodeY)*sqSize;				GraphicsUtil.drawLine(g,X+aX,Y+aY,X+bX,Y+bY,5);				break;			case Wall.LEFT:				aX = (nodeX)*sqSize;				bX = (nodeX)*sqSize;				aY = (myMaze.height-nodeY)*sqSize;				bY = (myMaze.height-nodeY-1)*sqSize;				//Utility.show("left wall ax,ay,bx,by= "+aX+","+aY+","+bX+","+bY);				GraphicsUtil.drawLine(g,X+aX,Y+aY,X+bX,Y+bY,5);				break;			}		}	}		void drawCurrPosition(Graphics g, State s)	{		int centreX = sqSize*s.x + sqSize/2; 		int centreY = sqSize*(myMaze.height-1 - s.y) + sqSize/2;		int radius = sqSize/5;		Color c = Color.MAGENTA;		if(!ps.isBestAct)		    c = Color.YELLOW;		    		GraphicsUtil.fillCircle(g, X+centreX, Y+centreY, radius, c);		GraphicsUtil.drawCircle(g, X+centreX, Y+centreY, radius, 1, Color.black);				GraphicsUtil.drawCircle(g, X+centreX-radius/3, Y+centreY-radius/3, radius/6, 1, Color.black);		GraphicsUtil.drawCircle(g, X+centreX-radius/3, Y+centreY-radius/3, 1, 1, Color.black);				GraphicsUtil.drawCircle(g, X+centreX+radius/3, Y+centreY-radius/3, radius/6, 1, Color.black);		GraphicsUtil.drawCircle(g, X+centreX+radius/3, Y+centreY-radius/3, 1, 1, Color.black);				if(ps.receivedPenalty) {		    GraphicsUtil.drawArc(g,X+centreX-radius/2,Y+centreY+radius/3,radius,2*radius/3,0,180,Color.black);			//GraphicsUtil.fillArc(g,X+centreX-radius/2,Y+centreY+radius/3,radius,2*radius/3,0,180,Color.black);		}		else {		    GraphicsUtil.drawArc(g,X+centreX-radius/2,Y+centreY,radius,2*radius/3,0,-180,Color.black);			//GraphicsUtil.fillArc(g,X+centreX-radius/2,Y+centreY,radius,2*radius/3,0,-180,Color.white);		}	}	void drawPolicy(Graphics g)	{		//System.out.println("drawing policy");		int[][] p = ps.getPolicy();		int x1=0,x2=0,y1=0,y2=0;		g.setColor(Color.WHITE);		for(int i=0;i<p.length;i++) {			for (int j=0;j<p[i].length;j++) {				x1 = (i*sqSize)+(sqSize/2);				y1 = ((myMaze.height-1-j)*sqSize)+(sqSize/2);				switch (p[i][j]) {					case Action.UP:					    x2 = x1;					    y2 = ((myMaze.height-1-j))*sqSize;					    break;					case Action.LEFT:						x2 = i* sqSize;						y2 = y1;						break;					case Action.DOWN:						x2 = x1;						y2 = ((myMaze.height-1-j)*sqSize)+sqSize;						break;					case Action.RIGHT:						x2 = (i*sqSize) + sqSize;						y2 = y1;						break;					default:						continue;				}				g.drawLine(X+x1,Y+y1,X+x2,Y+y2);			}		}	}	void drawValues(Graphics g)	{	    ValueFunction valuefunc = ps.getValueFunction();        double[][] values = valuefunc.stateValue;        int max = 1+(int)Math.ceil(valuefunc.getMax());        		double[][][] qsa = ps.getQsa();		Vector backedUpStates = ps.getBackedUpStates();						for (int xval=0 ; xval <myMaze.width; xval++) {            for (int y=0; y < myMaze.height; y++) {                int yval = myMaze.height-1-y;                if (values[xval][y] >= 0) {                    int red = 155-Math.min((int)(255.0*(values[xval][y])/max),155);                    int green = 155-Math.min((int)(255.0*(values[xval][y])/max),155);                    int b = 255-Math.min((int)(255.0*(values[xval][y])/max),220);                                        g.setColor(new Color(red,green,b));                }                else                    g.setColor(GoldColor);                                g.fillRect(X+xval*sqSize+1,Y+yval*sqSize+1,sqSize-1,sqSize-1);                            }		}		if(!ShowValue)		    return;				g.setColor(Color.WHITE);		State temp;		for(int i=0;i<backedUpStates.size();i++)		{			temp = (State)backedUpStates.get(i);        	g.drawString("*",X+temp.x*sqSize+5,Y+(myMaze.height-1-temp.y)*sqSize+15);		}				for(int i=0;i<qsa.length;i++) {			for(int j=0;j<qsa[i].length;j++) {				g.drawString(df.format(qsa[i][j][0]), X+(i*sqSize)+(sqSize/2)-5, Y+((myMaze.height-j)*sqSize)-sqSize+15);				g.drawString(df.format(qsa[i][j][1]), X+(i*sqSize)+sqSize-20, Y+((myMaze.height-j)*sqSize)-(sqSize/2));				g.drawString(df.format(qsa[i][j][2]), X+(i*sqSize)+(sqSize/2)-5, Y+((myMaze.height-j)*sqSize)-5);				g.drawString(df.format(qsa[i][j][3]), X+(i*sqSize)+5, Y+((myMaze.height-j)*sqSize)-(sqSize/2));			}		}			}}