/// <summary>
/// Constructor
/// </summary>
/// <param name="DistanceFromLowerBound">Distance the of the blockage from hte LowerBound Waypoint</param>
/// <param name="BlockageID">Identifier with which to modify the blockage</param>
/// <param name="LowerBound">Waypoint blockage exists after</param>
/// <param name="UpperBound">Waypoint blockage exists before</param>
/// <param name="ProbabilityExists">Initial probability with which the blockage exists</param>
/// <param name="BlockageContainer">Interconnect or Partition of Lane taht holds the blockage</param>
public Blockage(double DistanceFromLowerBound, IConnectWaypoints BlockageContainer, string BlockageID, IWaypoint LowerBound, IWaypoint UpperBound, double ProbabilityExists)
{
this.DistanceFromLowerBound = DistanceFromLowerBound;
this.BlockageContainer = BlockageContainer;
this.BlockageID = BlockageID;
this.LowerBound = LowerBound;
this.UpperBound = UpperBound;
this.ProbabilityExists = ProbabilityExists;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="DistanceFromLowerBound">Distance the of the blockage from hte LowerBound Waypoint</param>
/// <param name="BlockageID">Identifier with which to modify the blockage</param>
/// <param name="LowerBound">Waypoint blockage exists after</param>
/// <param name="UpperBound">Waypoint blockage exists before</param>
/// <param name="ProbabilityExists">Initial probability with which the blockage exists</param>
/// <param name="BlockageContainer">Interconnect or Partition of Lane taht holds the blockage</param>
public Blockage(double DistanceFromLowerBound, IConnectWaypoints BlockageContainer, string BlockageID, IWaypoint LowerBound, IWaypoint UpperBound, double ProbabilityExists)
{
this.DistanceFromLowerBound = DistanceFromLowerBound;
this.BlockageContainer = BlockageContainer;
this.BlockageID = BlockageID;
this.LowerBound = LowerBound;
this.UpperBound = UpperBound;
this.ProbabilityExists = ProbabilityExists;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="distanceFromLowerBound">distance of the vehicle's projected absolutePosition from the closest lowerBound IWaypoint on the Lane</param>
/// <param name="partition">the lanePartition of Interconnect the vehicle can reference itself in</param>
/// <param name="lowerBound">closest user or rndf waypoint previous to absolutePosition on lane</param>
/// <param name="upperBound">closest user or rndf waypoint after absolutePosition on lane</param>
/// <param name="offset">distance of hte vehicle's absolute absolutePosition from the lane's supposed absolutePosition</param>
/// <param name="relativeRndfPosition">the absolute absolutePosition of the vehicle on the rndf in x,y</param>
/// <param name="error">if the absolute absolutePosition is not perfectly offset, there is an error</param>
public LocationAnalysis(double distanceFromLowerBound, IConnectWaypoints partition, IWaypoint lowerBound, IWaypoint upperBound, double offset, Coordinates relativeRndfPosition, double error)
{
this.distanceFromLowerBound = distanceFromLowerBound;
this.partition = partition;
this.lowerBound = lowerBound;
this.upperBound = upperBound;
this.offset = offset;
this.relativeRndfPosition = relativeRndfPosition;
this.error = error;
}
/// <summary>
/// Returns a path segment enumerator starting with the specified <see cref="UserPartition"/>.
/// </summary>
/// <param name="partition">Starting <see cref="UserPartition"/> of the enumerator</param>
/// <returns>An <see cref="IEnumerable{IPathSegment}"/> instance.</returns>
/// <remarks>
/// <para>Each <see cref="IPathSegment"/> of the enumerator will be a <see cref="PartitionPathSegment"/>
/// instance wrapping a <see cref="UserPartition"/>.
/// </para>
/// <para>
/// The enumerator will start at the user partition specified by <paramref name="partition"/>.
/// </para>
/// </remarks>
/// <example>
/// This code example enumerates over all the user partition starting with a given starting partition.
/// <code>
/// foreach (IPathSegment seg in path.GetEnumeratorFrom(startingPartition) {
/// PartitionPathSegment partitionSeg = (PartitionPathSegment)seg;
/// Debug.WriteLine("user parition id: + " + partitionSeg.UserPartition.PartitionID.ToString());
/// Debug.WriteLine("start: " + seg.Start.ToString() + ", end: " + seg.End.ToString());
/// }
/// </code>
/// </example>
public IEnumerable <IPathSegment> GetEnumeratorFrom(UserPartition partition)
{
// enumerate over the first segment
IConnectWaypoints parent = partition.ParentPartition;
for (int i = parent.UserPartitions.IndexOf(partition); i < parent.UserPartitions.Count; i++)
{
yield return(GetPathSegment(parent.UserPartitions[i]));
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="distanceFromLowerBound">distance of the vehicle's projected absolutePosition from the closest lowerBound IWaypoint on the Lane</param>
/// <param name="partition">the lanePartition of Interconnect the vehicle can reference itself in</param>
/// <param name="lowerBound">closest user or rndf waypoint previous to absolutePosition on lane</param>
/// <param name="upperBound">closest user or rndf waypoint after absolutePosition on lane</param>
/// <param name="offset">distance of hte vehicle's absolute absolutePosition from the lane's supposed absolutePosition</param>
/// <param name="relativeRndfPosition">the absolute absolutePosition of the vehicle on the rndf in x,y</param>
/// <param name="error">if the absolute absolutePosition is not perfectly offset, there is an error</param>
public LocationAnalysis(double distanceFromLowerBound, IConnectWaypoints partition, IWaypoint lowerBound, IWaypoint upperBound, double offset, Coordinates relativeRndfPosition, double error)
{
this.distanceFromLowerBound = distanceFromLowerBound;
this.partition = partition;
this.lowerBound = lowerBound;
this.upperBound = upperBound;
this.offset = offset;
this.relativeRndfPosition = relativeRndfPosition;
this.error = error;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="partition">Partition of the RndfNetwork the vehicle is a part of</param>
/// <param name="lowerBound">Specific previous waypoint bounding the vehicle</param>
/// <param name="upperBound">Specific next waypoint bounding the vehicle</param>
/// <param name="offset"></param>
/// <param name="error">Error value associated with the location</param>
/// <param name="absolute">Absolute position of the vehicle on the rndfNetwork map</param>
/// <param name="laneConfidence">Confidence the vehicle should be processed according to this lane</param>
public RndfLocation(IConnectWaypoints partition, IWaypoint lowerBound, IWaypoint upperBound, double offset, double error, Coordinates absolute, double laneConfidence)
{
this.partition = partition;
this.lowerBound = lowerBound;
this.upperBound = upperBound;
this.offset = offset;
this.error = error;
this.absolutePositionOnPartition = absolute;
this.laneConfidence = laneConfidence;
}
public override bool Equals(object obj)
{
if (obj is Intersection)
{
Intersection other = (Intersection)obj;
IConnectWaypoints firstOther = other.Connections[0];
if (this.Connections[0].Equals(firstOther))
{
return(true);
}
else
{
return(false);
}
}
else
{
return(false);
}
}
/// <summary>
/// gets position on a generic partition
/// </summary>
/// <param name="coordinate"></param>
/// <param name="laneParition"></param>
/// <returns></returns>
private static LocationAnalysis getPartitionState(Coordinates coordinate, IConnectWaypoints lanePartition)
{
// analyze the partition
LocationAnalysis partitionAnalysis = AnalyzePartition(coordinate, (IWaypoint)lanePartition.InitialWaypoint, (IWaypoint)lanePartition.FinalWaypoint);
// set the value to return
LocationAnalysis closest = null;
// values for comparing partitions
double offsetMin = Double.MaxValue;
// if this partition has less of an offset from the vehicle than the current best, set as current
if (partitionAnalysis.Offset < offsetMin)
{
offsetMin = partitionAnalysis.Offset;
closest = partitionAnalysis;
// set partition of result
closest.Partition = lanePartition;
}
// otherwise, if the vehicle is relatively close to this partition
// and the closest Coordinates are not those of the initial final waypoitns of the lane
// and this error is less than the current best offset
else if (partitionAnalysis.Offset == 1234567 &&
(partitionAnalysis.Error < offsetMin))
{
offsetMin = partitionAnalysis.Error;
closest = partitionAnalysis;
// set partition of result
closest.Partition = lanePartition;
}
// return estimate
return(partitionAnalysis);
}
/// <summary>
/// gets position on a generic partition
/// </summary>
/// <param name="coordinate"></param>
/// <param name="laneParition"></param>
/// <returns></returns>
private static LocationAnalysis getPartitionState(Coordinates coordinate, IConnectWaypoints lanePartition)
{
// analyze the partition
LocationAnalysis partitionAnalysis = AnalyzePartition(coordinate, (IWaypoint)lanePartition.InitialWaypoint, (IWaypoint)lanePartition.FinalWaypoint);
// set the value to return
LocationAnalysis closest = null;
// values for comparing partitions
double offsetMin = Double.MaxValue;
// if this partition has less of an offset from the vehicle than the current best, set as current
if (partitionAnalysis.Offset < offsetMin)
{
offsetMin = partitionAnalysis.Offset;
closest = partitionAnalysis;
// set partition of result
closest.Partition = lanePartition;
}
// otherwise, if the vehicle is relatively close to this partition
// and the closest Coordinates are not those of the initial final waypoitns of the lane
// and this error is less than the current best offset
else if (partitionAnalysis.Offset == 1234567
&& (partitionAnalysis.Error < offsetMin))
{
offsetMin = partitionAnalysis.Error;
closest = partitionAnalysis;
// set partition of result
closest.Partition = lanePartition;
}
// return estimate
return partitionAnalysis;
}
/// <summary>
/// Constructs the <see cref="ConnectWaypointPath"/> with the specified <see cref="IConnectWaypoints"/> instance.
/// </summary>
/// <param name="cw"><see cref="IConnectWaypoints"/> instance to use</param>
public ConnectWaypointPath(IConnectWaypoints cw)
{
this.cw = cw;
}
public UserPartition(UserPartitionID id, IConnectWaypoints parent)
{
this.partitionID = id;
this.parentPartition = parent;
}
public UserPartition(UserPartitionID id, IConnectWaypoints parent)
{
this.partitionID = id;
this.parentPartition = parent;
}
/// <summary>
/// Specific path to take in a LocalRoute
/// </summary>
/// <param name="time"></param>
/// <param name="specificPath"></param>
public LocalOption(double time, IConnectWaypoints specificPath)
{
this.time = time;
this.specificPath = specificPath;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="partition">Partition of the RndfNetwork the vehicle is a part of</param>
/// <param name="lowerBound">Specific previous waypoint bounding the vehicle</param>
/// <param name="upperBound">Specific next waypoint bounding the vehicle</param>
/// <param name="offset"></param>
/// <param name="error">Error value associated with the location</param>
/// <param name="absolute">Absolute position of the vehicle on the rndfNetwork map</param>
/// <param name="laneConfidence">Confidence the vehicle should be processed according to this lane</param>
public RndfLocation(IConnectWaypoints partition, IWaypoint lowerBound, IWaypoint upperBound, double offset, double error, Coordinates absolute, double laneConfidence)
{
this.partition = partition;
this.lowerBound = lowerBound;
this.upperBound = upperBound;
this.offset = offset;
this.error = error;
this.absolutePositionOnPartition = absolute;
this.laneConfidence = laneConfidence;
}
