public static void Main(string[] args)
{
var circuitName = "simple-circuit";
var circuitPath = Path.GetFullPath($"{assetsDirectoryPath}/tracks/{circuitName}");
var perceptionPeriod = TimeSpan.FromSeconds(1.0 / 10.0);
var simulationStep = TimeSpan.FromSeconds(1.0 / 20.0);
Console.WriteLine($"Loading track {circuitName}");
var track = Track.Load($"{circuitPath}/circuit_definition.json");
var world = new StandardWorld(track, simulationStep, safetyMargin: 0.5);
var planName = "plan-HybridAStarPlanner-1551383968-15200.json";
Console.WriteLine($"Loading plan {planName}");
var plan = Plans.Load($"{assetsDirectoryPath}/plans/{planName}");
var trajectory = new Trajectory(plan.Trajectory);
var agent = new DynamcWindowApproachAgent(
trajectory,
world,
4 * world.VehicleModel.Length,
perceptionPeriod,
4 * perceptionPeriod);
//var agent = new PIDAgent(plan.Trajectory, world.MotionModel, perceptionPeriod);
Console.WriteLine($"Simulating agent {agent.GetType().Name}");
var simulation = new Simulation.Simulation(agent, world);
var summary = simulation.Simulate(simulationStep, perceptionPeriod, TimeSpan.FromSeconds(60));
IO.Simulation.StoreResult(track, world.VehicleModel, summary, $"{circuitPath}/visualization.svg", "C:/Users/simon/Projects/racer-experiment/simulator/src/report.json");
Console.WriteLine($"Time to finish: {summary.SimulationTime.TotalSeconds}s");
}
