/// <summary>
/// Constructor
/// </summary>
public LateralReasoning(ArbiterLane lane, SideObstacleSide sos)
{
this.lane = lane;
this.ForwardMonitor = new ForwardQuadrantMonitor();
this.LateralMonitor = new LateralQuadrantMonitor(sos);
this.RearMonitor = new RearQuadrantMonitor(lane, sos);
}
/// <summary>
/// Constructor
/// </summary>
public LateralReasoning(ArbiterLane lane, SideObstacleSide sos)
{
this.lane = lane;
this.ForwardMonitor = new ForwardQuadrantMonitor();
this.LateralMonitor = new LateralQuadrantMonitor(sos);
this.RearMonitor = new RearQuadrantMonitor(lane, sos);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="leftLateral"></param>
/// <param name="rightLateral"></param>
public ForwardReasoning(ILateralReasoning leftLateral, ILateralReasoning rightLateral, IFQMPlanable lane)
{
this.Lane = lane;
this.leftLateralReasoning = leftLateral;
this.rightLateralReasoning = rightLateral;
this.ForwardMonitor = new ForwardQuadrantMonitor();
this.blockageTimer = new Stopwatch();
if (lane is ArbiterLane)
{
this.RearMonitor = new RearQuadrantMonitor((ArbiterLane)lane, SideObstacleSide.Driver);
}
else
{
this.RearMonitor = new RearQuadrantMonitor(((SupraLane)lane).Initial, SideObstacleSide.Driver);
}
}