private void InitializeDisplayObjects()
        {
            grid = new GridDisplayObject();
            // add seperate from display object service
            Services.DisplayObjectService.Add(grid, true);

            // car object
            CarDisplayObject carDisplayObject = new CarDisplayObject("tahoe", Color.SkyBlue);
            carDisplayObject.AttachToVehicleState = true;
            Services.DisplayObjectService.Add(carDisplayObject, true);

            // tracked paths
            TrackedPathDisplayObject posePath = new TrackedPathDisplayObject("paths/pose", Color.LightBlue);
            disposables.Add(DataItemAttacher.Attach(posePath, OperationalInterface.Dataset.ItemAs<Coordinates>("xy")));
            Services.DisplayObjectService.Add(posePath, true);

            TrackedPathDisplayObject posteriorPosePath = new TrackedPathDisplayObject("paths/posterior pose", Color.DarkGreen);
            disposables.Add(DataItemAttacher.Attach(posteriorPosePath, OperationalInterface.Dataset.ItemAs<Coordinates>("posterior pose")));
            Services.DisplayObjectService.Add(posteriorPosePath, true);

            TrackedPathDisplayObject hpPath = new TrackedPathDisplayObject("paths/hp", Color.HotPink);
            disposables.Add(DataItemAttacher.Attach(hpPath, OperationalInterface.Dataset.ItemAs<Coordinates>("hp xy")));
            Services.DisplayObjectService.Add(hpPath, true);

            TrackedPathDisplayObject sepPath = new TrackedPathDisplayObject("paths/septentrio", Color.DarkRed);
            disposables.Add(DataItemAttacher.Attach(sepPath, OperationalInterface.Dataset.ItemAs<Coordinates>("gps xy")));
            Services.DisplayObjectService.Add(sepPath, true);

            // path point
            PointDisplayObject pathPoint = new PointDisplayObject("tracking/path point", "path point", Color.Green, ControlPointStyle.LargeX, ContentAlignment.BottomRight);
            disposables.Add(DataItemAttacher.Attach(pathPoint, OperationalInterface.Dataset.ItemAs<Coordinates>("path point")));
            Services.DisplayObjectService.Add(pathPoint, true);

            LineListDisplayObject trackingPath = new LineListDisplayObject("tracking/tracking path", Color.DeepPink);
            disposables.Add(DataItemAttacher.Attach(trackingPath, OperationalInterface.Dataset.ItemAs<LineList>("tracking path")));
            Services.DisplayObjectService.Add(trackingPath, false);

            // u-turn stuff
            CircleDisplayObject uturnCircle = new CircleDisplayObject("u-turn/planned circle", Color.Magenta);
            disposables.Add(DataItemAttacher.Attach(uturnCircle, OperationalInterface.Dataset.ItemAs<Circle>("uturn circle")));
            Services.DisplayObjectService.Add(uturnCircle, true);

            PointDisplayObject uturnStopPoint = new PointDisplayObject("u-turn/stop point", null, Color.Black, ControlPointStyle.SmallX, ContentAlignment.BottomRight);
            disposables.Add(DataItemAttacher.Attach(uturnStopPoint, OperationalInterface.Dataset.ItemAs<Coordinates>("uturn stop point")));
            Services.DisplayObjectService.Add(uturnStopPoint, true);

            PolygonDisplayObject uturnPolygon = new PolygonDisplayObject("u-turn/polygon", Color.BurlyWood, false);
            disposables.Add(DataItemAttacher.Attach(uturnPolygon, OperationalInterface.Dataset.ItemAs<Polygon>("uturn polygon")));
            Services.DisplayObjectService.Add(uturnPolygon, true);

            // original path objects (paths frank sends)
            LineListDisplayObject originalPath1 = new LineListDisplayObject("planning/original path 1", Color.DarkOrchid);
            disposables.Add(DataItemAttacher.Attach(originalPath1, OperationalInterface.Dataset.ItemAs<LineList>("original path1")));
            Services.DisplayObjectService.Add(originalPath1, true);

            LineListDisplayObject originalpath2 = new LineListDisplayObject("planning/original path 2", Color.DarkSeaGreen);
            disposables.Add(DataItemAttacher.Attach(originalpath2, OperationalInterface.Dataset.ItemAs<LineList>("original path2")));
            Services.DisplayObjectService.Add(originalpath2, true);

            // planned path objects
            LineListDisplayObject smoothedPath = new LineListDisplayObject("planning/smoothed path", Color.OrangeRed);
            disposables.Add(DataItemAttacher.Attach(smoothedPath, OperationalInterface.Dataset.ItemAs<LineList>("smoothed path")));
            Services.DisplayObjectService.Add(smoothedPath, true);

            LineListDisplayObject leftBound = new LineListDisplayObject("planning/left bound", Color.Blue);
            disposables.Add(DataItemAttacher.Attach(leftBound, OperationalInterface.Dataset.ItemAs<LineList>("left bound")));
            Services.DisplayObjectService.Add(leftBound, true);

            LineListDisplayObject rightBound = new LineListDisplayObject("planning/right bound", Color.Red);
            disposables.Add(DataItemAttacher.Attach(rightBound, OperationalInterface.Dataset.ItemAs<LineList>("right bound")));
            Services.DisplayObjectService.Add(rightBound, true);

            LineListDisplayObject subPath = new LineListDisplayObject("planning/subpath", Color.SaddleBrown);
            disposables.Add(DataItemAttacher.Attach(subPath, OperationalInterface.Dataset.ItemAs<LineList>("subpath")));
            Services.DisplayObjectService.Add(subPath, false);

            LineListDisplayObject predictionPath = new LineListDisplayObject("planning/prediction", Color.DarkViolet);
            disposables.Add(DataItemAttacher.Attach(predictionPath, OperationalInterface.Dataset.ItemAs<LineList>("prediction path")));
            Services.DisplayObjectService.Add(predictionPath, false);

            LineListDisplayObject predictionPath2 = new LineListDisplayObject("planning/prediction2", Color.Magenta);
            disposables.Add(DataItemAttacher.Attach(predictionPath2, OperationalInterface.Dataset.ItemAs<LineList>("prediction path2")));
            Services.DisplayObjectService.Add(predictionPath2, false);

            LineListDisplayObject subPath2 = new LineListDisplayObject("planning/subpath2", Color.Lime);
            disposables.Add(DataItemAttacher.Attach(subPath2, OperationalInterface.Dataset.ItemAs<LineList>("subpath2")));
            Services.DisplayObjectService.Add(subPath2, true);

            PointsDisplayObject leftPoints = new PointsDisplayObject("planning/left hits", Color.Blue, ControlPointStyle.LargeX);
            disposables.Add(DataItemAttacher.Attach(leftPoints, OperationalInterface.Dataset.ItemAs<Coordinates[]>("left bound points")));
            Services.DisplayObjectService.Add(leftPoints, true);

            PointsDisplayObject rightPoints = new PointsDisplayObject("planning/right hits", Color.Red, ControlPointStyle.LargeX);
            disposables.Add(DataItemAttacher.Attach(rightPoints, OperationalInterface.Dataset.ItemAs<Coordinates[]>("right bound points")));
            Services.DisplayObjectService.Add(rightPoints, true);

            LineListDisplayObject avoidancePath = new LineListDisplayObject("planning/avoidance path", Color.DarkSalmon);
            disposables.Add(DataItemAttacher.Attach(avoidancePath, OperationalInterface.Dataset.ItemAs<LineList>("avoidance path")));
            Services.DisplayObjectService.Add(avoidancePath, true);

            // extended debugging stuff
            PlanningGridExtDisplayObject gridDisplay = new PlanningGridExtDisplayObject("planning/grid", Color.DarkOrchid, Color.LightSkyBlue);
            Services.DisplayObjectService.Add(gridDisplay, false);

            SmoothingResultsDisplayObject smoothingDisplay = new SmoothingResultsDisplayObject("planning/smoothing");
            Services.DisplayObjectService.Add(smoothingDisplay, false);

            ArcDisplayObject arcs = new ArcDisplayObject();
            disposables.Add(DataItemAttacher.Attach(arcs, OperationalInterface.Dataset.ItemAs<ArcVotingResults>("arc voting results")));
            Services.DisplayObjectService.Add(arcs, false);

            // obstacle data

            untrackedClustersDisplayObject = new UntrackedClustersDisplayObject("obstacles/untracked points", true, Color.DarkMagenta);
            untrackedClusterAttacher = new ChannelListenerAttacher<SceneEstimatorUntrackedClusterCollection>(untrackedClustersDisplayObject, null);
            Services.DisplayObjectService.Add(untrackedClustersDisplayObject, true);

            ObstacleDisplayObject perimeterObstacles = new ObstacleDisplayObject("obstacles/perimeter obstacles");
            disposables.Add(DataItemAttacher.Attach(perimeterObstacles, OperationalInterface.Dataset.ItemAs<OperationalObstacle[]>("perimeter obstacles")));
            Services.DisplayObjectService.Add(perimeterObstacles, true);

            ObstacleDisplayObject wrappedClusters = new ObstacleDisplayObject("obstacles/wrapped obstacles");
            disposables.Add(DataItemAttacher.Attach(wrappedClusters, OperationalInterface.Dataset.ItemAs<OperationalObstacle[]>("obstacles")));
            Services.DisplayObjectService.Add(wrappedClusters, true);

            // subscribe to the attached event so we can bind the untracked clusters data appropriately
            OperationalInterface.Attached += OperationalInterface_Attached;

            // lane models
            LocalLaneModelDisplayObject centerLane = new LocalLaneModelDisplayObject("lanes/center", Color.DarkGreen);
            disposables.Add(DataItemAttacher.Attach(centerLane, OperationalInterface.Dataset.ItemAs<LocalLaneModel>("center lane")));
            Services.DisplayObjectService.Add(centerLane, false);

            LocalLaneModelDisplayObject leftLane = new LocalLaneModelDisplayObject("lanes/left", Color.Goldenrod);
            disposables.Add(DataItemAttacher.Attach(leftLane, OperationalInterface.Dataset.ItemAs<LocalLaneModel>("left lane")));
            Services.DisplayObjectService.Add(leftLane, false);

            LocalLaneModelDisplayObject rightLane = new LocalLaneModelDisplayObject("lanes/right", Color.LightCoral);
            disposables.Add(DataItemAttacher.Attach(rightLane, OperationalInterface.Dataset.ItemAs<LocalLaneModel>("right lane")));
            Services.DisplayObjectService.Add(rightLane, false);

            LineListDisplayObject leftRoadEdge = new LineListDisplayObject("lanes/left road edge", Color.Firebrick);
            disposables.Add(DataItemAttacher.Attach(leftRoadEdge, OperationalInterface.Dataset.ItemAs<LineList>("left road edge")));
            Services.DisplayObjectService.Add(leftRoadEdge, true);

            LineListDisplayObject rightRoadEdge = new LineListDisplayObject("lanes/right road edge", Color.DarkViolet);
            disposables.Add(DataItemAttacher.Attach(rightRoadEdge, OperationalInterface.Dataset.ItemAs<LineList>("right road edge")));
            Services.DisplayObjectService.Add(rightRoadEdge, true);

            LineListDisplayObject roadBearing = new LineListDisplayObject("lanes/road bearing", Color.Orange);
            disposables.Add(DataItemAttacher.Attach(roadBearing, OperationalInterface.Dataset.ItemAs<LineList>("road bearing")));
            Services.DisplayObjectService.Add(roadBearing, true);

            // intersections
            LineListDisplayObject intersectionPath = new LineListDisplayObject("intersections/pull path", Color.DarkCyan);
            disposables.Add(DataItemAttacher.Attach(intersectionPath, OperationalInterface.Dataset.ItemAs<LineList>("intersection path")));
            Services.DisplayObjectService.Add(intersectionPath, true);

            PolygonDisplayObject intersectionPolygon = new PolygonDisplayObject("intersections/polygon", Color.DarkGoldenrod, false);
            disposables.Add(DataItemAttacher.Attach(intersectionPolygon, OperationalInterface.Dataset.ItemAs<Polygon>("intersection polygon")));
            Services.DisplayObjectService.Add(intersectionPolygon, true);

            // zones
            PolygonSetDisplayObject zoneBadRegions = new PolygonSetDisplayObject("zone/bad regions", Color.DarkMagenta, false);
            disposables.Add(DataItemAttacher.Attach(zoneBadRegions, OperationalInterface.Dataset.ItemAs<Polygon[]>("zone bad regions")));
            Services.DisplayObjectService.Add(zoneBadRegions, true);

            PolygonDisplayObject zonePerimeter = new PolygonDisplayObject("zone/perimeter", Color.DarkSeaGreen, false);
            disposables.Add(DataItemAttacher.Attach(zonePerimeter, OperationalInterface.Dataset.ItemAs<Polygon>("zone perimeter")));
            Services.DisplayObjectService.Add(zonePerimeter, true);

            PointDisplayObject frontLeftPoint = new PointDisplayObject("zone/parker front left", "front left", Color.DarkBlue, ControlPointStyle.LargeX, ContentAlignment.MiddleRight);
            disposables.Add(DataItemAttacher.Attach(frontLeftPoint, OperationalInterface.Dataset.ItemAs<Coordinates>("front left point")));
            Services.DisplayObjectService.Add(frontLeftPoint, true);

            PointDisplayObject rearRightPoint = new PointDisplayObject("zone/parker rear right", "rear right", Color.DarkOrchid, ControlPointStyle.LargeX, ContentAlignment.MiddleRight);
            disposables.Add(DataItemAttacher.Attach(rearRightPoint, OperationalInterface.Dataset.ItemAs<Coordinates>("rear right point")));
            Services.DisplayObjectService.Add(rearRightPoint, true);

            CircleSegmentDisplayObject parkPath = new CircleSegmentDisplayObject("zone/parking path", Color.DarkRed);
            disposables.Add(DataItemAttacher.Attach(parkPath, OperationalInterface.Dataset.ItemAs<CircleSegment>("parking path")));
            Services.DisplayObjectService.Add(parkPath, true);

            Services.DisplayObjectService.MoveToBefore(gridDisplay, carDisplayObject);
        }
Ejemplo n.º 2
0
        private void InitializeDisplayObjects()
        {
            grid = new GridDisplayObject();
            // add seperate from display object service
            Services.DisplayObjectService.Add(grid, true);

            // car object
            CarDisplayObject carDisplayObject = new CarDisplayObject("tahoe", Color.SkyBlue);

            carDisplayObject.AttachToVehicleState = true;
            Services.DisplayObjectService.Add(carDisplayObject, true);

            // tracked paths
            TrackedPathDisplayObject posePath = new TrackedPathDisplayObject("paths/pose", Color.LightBlue);

            disposables.Add(DataItemAttacher.Attach(posePath, OperationalInterface.Dataset.ItemAs <Coordinates>("xy")));
            Services.DisplayObjectService.Add(posePath, true);

            TrackedPathDisplayObject posteriorPosePath = new TrackedPathDisplayObject("paths/posterior pose", Color.DarkGreen);

            disposables.Add(DataItemAttacher.Attach(posteriorPosePath, OperationalInterface.Dataset.ItemAs <Coordinates>("posterior pose")));
            Services.DisplayObjectService.Add(posteriorPosePath, true);

            TrackedPathDisplayObject hpPath = new TrackedPathDisplayObject("paths/hp", Color.HotPink);

            disposables.Add(DataItemAttacher.Attach(hpPath, OperationalInterface.Dataset.ItemAs <Coordinates>("hp xy")));
            Services.DisplayObjectService.Add(hpPath, true);

            TrackedPathDisplayObject sepPath = new TrackedPathDisplayObject("paths/septentrio", Color.DarkRed);

            disposables.Add(DataItemAttacher.Attach(sepPath, OperationalInterface.Dataset.ItemAs <Coordinates>("gps xy")));
            Services.DisplayObjectService.Add(sepPath, true);

            // path point
            PointDisplayObject pathPoint = new PointDisplayObject("tracking/path point", "path point", Color.Green, ControlPointStyle.LargeX, ContentAlignment.BottomRight);

            disposables.Add(DataItemAttacher.Attach(pathPoint, OperationalInterface.Dataset.ItemAs <Coordinates>("path point")));
            Services.DisplayObjectService.Add(pathPoint, true);

            LineListDisplayObject trackingPath = new LineListDisplayObject("tracking/tracking path", Color.DeepPink);

            disposables.Add(DataItemAttacher.Attach(trackingPath, OperationalInterface.Dataset.ItemAs <LineList>("tracking path")));
            Services.DisplayObjectService.Add(trackingPath, false);

            // u-turn stuff
            CircleDisplayObject uturnCircle = new CircleDisplayObject("u-turn/planned circle", Color.Magenta);

            disposables.Add(DataItemAttacher.Attach(uturnCircle, OperationalInterface.Dataset.ItemAs <Circle>("uturn circle")));
            Services.DisplayObjectService.Add(uturnCircle, true);

            PointDisplayObject uturnStopPoint = new PointDisplayObject("u-turn/stop point", null, Color.Black, ControlPointStyle.SmallX, ContentAlignment.BottomRight);

            disposables.Add(DataItemAttacher.Attach(uturnStopPoint, OperationalInterface.Dataset.ItemAs <Coordinates>("uturn stop point")));
            Services.DisplayObjectService.Add(uturnStopPoint, true);

            PolygonDisplayObject uturnPolygon = new PolygonDisplayObject("u-turn/polygon", Color.BurlyWood, false);

            disposables.Add(DataItemAttacher.Attach(uturnPolygon, OperationalInterface.Dataset.ItemAs <Polygon>("uturn polygon")));
            Services.DisplayObjectService.Add(uturnPolygon, true);

            // original path objects (paths frank sends)
            LineListDisplayObject originalPath1 = new LineListDisplayObject("planning/original path 1", Color.DarkOrchid);

            disposables.Add(DataItemAttacher.Attach(originalPath1, OperationalInterface.Dataset.ItemAs <LineList>("original path1")));
            Services.DisplayObjectService.Add(originalPath1, true);

            LineListDisplayObject originalpath2 = new LineListDisplayObject("planning/original path 2", Color.DarkSeaGreen);

            disposables.Add(DataItemAttacher.Attach(originalpath2, OperationalInterface.Dataset.ItemAs <LineList>("original path2")));
            Services.DisplayObjectService.Add(originalpath2, true);

            // planned path objects
            LineListDisplayObject smoothedPath = new LineListDisplayObject("planning/smoothed path", Color.OrangeRed);

            disposables.Add(DataItemAttacher.Attach(smoothedPath, OperationalInterface.Dataset.ItemAs <LineList>("smoothed path")));
            Services.DisplayObjectService.Add(smoothedPath, true);

            LineListDisplayObject leftBound = new LineListDisplayObject("planning/left bound", Color.Blue);

            disposables.Add(DataItemAttacher.Attach(leftBound, OperationalInterface.Dataset.ItemAs <LineList>("left bound")));
            Services.DisplayObjectService.Add(leftBound, true);

            LineListDisplayObject rightBound = new LineListDisplayObject("planning/right bound", Color.Red);

            disposables.Add(DataItemAttacher.Attach(rightBound, OperationalInterface.Dataset.ItemAs <LineList>("right bound")));
            Services.DisplayObjectService.Add(rightBound, true);

            LineListDisplayObject subPath = new LineListDisplayObject("planning/subpath", Color.SaddleBrown);

            disposables.Add(DataItemAttacher.Attach(subPath, OperationalInterface.Dataset.ItemAs <LineList>("subpath")));
            Services.DisplayObjectService.Add(subPath, false);

            LineListDisplayObject predictionPath = new LineListDisplayObject("planning/prediction", Color.DarkViolet);

            disposables.Add(DataItemAttacher.Attach(predictionPath, OperationalInterface.Dataset.ItemAs <LineList>("prediction path")));
            Services.DisplayObjectService.Add(predictionPath, false);

            LineListDisplayObject predictionPath2 = new LineListDisplayObject("planning/prediction2", Color.Magenta);

            disposables.Add(DataItemAttacher.Attach(predictionPath2, OperationalInterface.Dataset.ItemAs <LineList>("prediction path2")));
            Services.DisplayObjectService.Add(predictionPath2, false);

            LineListDisplayObject subPath2 = new LineListDisplayObject("planning/subpath2", Color.Lime);

            disposables.Add(DataItemAttacher.Attach(subPath2, OperationalInterface.Dataset.ItemAs <LineList>("subpath2")));
            Services.DisplayObjectService.Add(subPath2, true);

            PointsDisplayObject leftPoints = new PointsDisplayObject("planning/left hits", Color.Blue, ControlPointStyle.LargeX);

            disposables.Add(DataItemAttacher.Attach(leftPoints, OperationalInterface.Dataset.ItemAs <Coordinates[]>("left bound points")));
            Services.DisplayObjectService.Add(leftPoints, true);

            PointsDisplayObject rightPoints = new PointsDisplayObject("planning/right hits", Color.Red, ControlPointStyle.LargeX);

            disposables.Add(DataItemAttacher.Attach(rightPoints, OperationalInterface.Dataset.ItemAs <Coordinates[]>("right bound points")));
            Services.DisplayObjectService.Add(rightPoints, true);

            LineListDisplayObject avoidancePath = new LineListDisplayObject("planning/avoidance path", Color.DarkSalmon);

            disposables.Add(DataItemAttacher.Attach(avoidancePath, OperationalInterface.Dataset.ItemAs <LineList>("avoidance path")));
            Services.DisplayObjectService.Add(avoidancePath, true);

            // extended debugging stuff
            PlanningGridExtDisplayObject gridDisplay = new PlanningGridExtDisplayObject("planning/grid", Color.DarkOrchid, Color.LightSkyBlue);

            Services.DisplayObjectService.Add(gridDisplay, false);

            SmoothingResultsDisplayObject smoothingDisplay = new SmoothingResultsDisplayObject("planning/smoothing");

            Services.DisplayObjectService.Add(smoothingDisplay, false);

            ArcDisplayObject arcs = new ArcDisplayObject();

            disposables.Add(DataItemAttacher.Attach(arcs, OperationalInterface.Dataset.ItemAs <ArcVotingResults>("arc voting results")));
            Services.DisplayObjectService.Add(arcs, false);

            // obstacle data

            untrackedClustersDisplayObject = new UntrackedClustersDisplayObject("obstacles/untracked points", true, Color.DarkMagenta);
            untrackedClusterAttacher       = new ChannelListenerAttacher <SceneEstimatorUntrackedClusterCollection>(untrackedClustersDisplayObject, null);
            Services.DisplayObjectService.Add(untrackedClustersDisplayObject, true);

            ObstacleDisplayObject perimeterObstacles = new ObstacleDisplayObject("obstacles/perimeter obstacles");

            disposables.Add(DataItemAttacher.Attach(perimeterObstacles, OperationalInterface.Dataset.ItemAs <OperationalObstacle[]>("perimeter obstacles")));
            Services.DisplayObjectService.Add(perimeterObstacles, true);

            ObstacleDisplayObject wrappedClusters = new ObstacleDisplayObject("obstacles/wrapped obstacles");

            disposables.Add(DataItemAttacher.Attach(wrappedClusters, OperationalInterface.Dataset.ItemAs <OperationalObstacle[]>("obstacles")));
            Services.DisplayObjectService.Add(wrappedClusters, true);

            // subscribe to the attached event so we can bind the untracked clusters data appropriately
            OperationalInterface.Attached += OperationalInterface_Attached;

            // lane models
            LocalLaneModelDisplayObject centerLane = new LocalLaneModelDisplayObject("lanes/center", Color.DarkGreen);

            disposables.Add(DataItemAttacher.Attach(centerLane, OperationalInterface.Dataset.ItemAs <LocalLaneModel>("center lane")));
            Services.DisplayObjectService.Add(centerLane, false);

            LocalLaneModelDisplayObject leftLane = new LocalLaneModelDisplayObject("lanes/left", Color.Goldenrod);

            disposables.Add(DataItemAttacher.Attach(leftLane, OperationalInterface.Dataset.ItemAs <LocalLaneModel>("left lane")));
            Services.DisplayObjectService.Add(leftLane, false);

            LocalLaneModelDisplayObject rightLane = new LocalLaneModelDisplayObject("lanes/right", Color.LightCoral);

            disposables.Add(DataItemAttacher.Attach(rightLane, OperationalInterface.Dataset.ItemAs <LocalLaneModel>("right lane")));
            Services.DisplayObjectService.Add(rightLane, false);

            LineListDisplayObject leftRoadEdge = new LineListDisplayObject("lanes/left road edge", Color.Firebrick);

            disposables.Add(DataItemAttacher.Attach(leftRoadEdge, OperationalInterface.Dataset.ItemAs <LineList>("left road edge")));
            Services.DisplayObjectService.Add(leftRoadEdge, true);

            LineListDisplayObject rightRoadEdge = new LineListDisplayObject("lanes/right road edge", Color.DarkViolet);

            disposables.Add(DataItemAttacher.Attach(rightRoadEdge, OperationalInterface.Dataset.ItemAs <LineList>("right road edge")));
            Services.DisplayObjectService.Add(rightRoadEdge, true);

            LineListDisplayObject roadBearing = new LineListDisplayObject("lanes/road bearing", Color.Orange);

            disposables.Add(DataItemAttacher.Attach(roadBearing, OperationalInterface.Dataset.ItemAs <LineList>("road bearing")));
            Services.DisplayObjectService.Add(roadBearing, true);

            // intersections
            LineListDisplayObject intersectionPath = new LineListDisplayObject("intersections/pull path", Color.DarkCyan);

            disposables.Add(DataItemAttacher.Attach(intersectionPath, OperationalInterface.Dataset.ItemAs <LineList>("intersection path")));
            Services.DisplayObjectService.Add(intersectionPath, true);

            PolygonDisplayObject intersectionPolygon = new PolygonDisplayObject("intersections/polygon", Color.DarkGoldenrod, false);

            disposables.Add(DataItemAttacher.Attach(intersectionPolygon, OperationalInterface.Dataset.ItemAs <Polygon>("intersection polygon")));
            Services.DisplayObjectService.Add(intersectionPolygon, true);

            // zones
            PolygonSetDisplayObject zoneBadRegions = new PolygonSetDisplayObject("zone/bad regions", Color.DarkMagenta, false);

            disposables.Add(DataItemAttacher.Attach(zoneBadRegions, OperationalInterface.Dataset.ItemAs <Polygon[]>("zone bad regions")));
            Services.DisplayObjectService.Add(zoneBadRegions, true);

            PolygonDisplayObject zonePerimeter = new PolygonDisplayObject("zone/perimeter", Color.DarkSeaGreen, false);

            disposables.Add(DataItemAttacher.Attach(zonePerimeter, OperationalInterface.Dataset.ItemAs <Polygon>("zone perimeter")));
            Services.DisplayObjectService.Add(zonePerimeter, true);

            PointDisplayObject frontLeftPoint = new PointDisplayObject("zone/parker front left", "front left", Color.DarkBlue, ControlPointStyle.LargeX, ContentAlignment.MiddleRight);

            disposables.Add(DataItemAttacher.Attach(frontLeftPoint, OperationalInterface.Dataset.ItemAs <Coordinates>("front left point")));
            Services.DisplayObjectService.Add(frontLeftPoint, true);

            PointDisplayObject rearRightPoint = new PointDisplayObject("zone/parker rear right", "rear right", Color.DarkOrchid, ControlPointStyle.LargeX, ContentAlignment.MiddleRight);

            disposables.Add(DataItemAttacher.Attach(rearRightPoint, OperationalInterface.Dataset.ItemAs <Coordinates>("rear right point")));
            Services.DisplayObjectService.Add(rearRightPoint, true);

            CircleSegmentDisplayObject parkPath = new CircleSegmentDisplayObject("zone/parking path", Color.DarkRed);

            disposables.Add(DataItemAttacher.Attach(parkPath, OperationalInterface.Dataset.ItemAs <CircleSegment>("parking path")));
            Services.DisplayObjectService.Add(parkPath, true);

            Services.DisplayObjectService.MoveToBefore(gridDisplay, carDisplayObject);
        }