public LinePath LinearizeCenterLine(LinearizationOptions options) { LinePath transformedPath = centerlinePath; if (options.Timestamp.IsValid) { RelativeTransform relTransform = Services.RelativePose.GetTransform(timestamp, options.Timestamp); OperationalTrace.WriteVerbose("in LinearizeCenterLine, tried to find {0}->{1}, got {2}->{3}", timestamp, options.Timestamp, relTransform.OriginTimestamp, relTransform.EndTimestamp); transformedPath = centerlinePath.Transform(relTransform); } LinePath.PointOnPath startPoint = transformedPath.AdvancePoint(centerlinePath.ZeroPoint, options.StartDistance); LinePath subPath = new LinePath();; if (options.EndDistance > options.StartDistance) { subPath = transformedPath.SubPath(startPoint, options.EndDistance - options.StartDistance); } if (subPath.Count < 2) { subPath.Clear(); Coordinates startPt = startPoint.Location; subPath.Add(startPt); subPath.Add(centerlinePath.GetSegment(startPoint.Index).UnitVector *Math.Max(options.EndDistance - options.StartDistance, 0.1) + startPt); } return(subPath); }
public LinePath LinearizeCenterLine(LinearizationOptions options) { LinePath transformedPath = centerlinePath; if (options.Timestamp.IsValid) { RelativeTransform relTransform = Services.RelativePose.GetTransform(timestamp, options.Timestamp); OperationalTrace.WriteVerbose("in LinearizeCenterLine, tried to find {0}->{1}, got {2}->{3}", timestamp, options.Timestamp, relTransform.OriginTimestamp, relTransform.EndTimestamp); transformedPath = centerlinePath.Transform(relTransform); } LinePath.PointOnPath startPoint = transformedPath.AdvancePoint(centerlinePath.ZeroPoint, options.StartDistance); LinePath subPath = new LinePath(); ; if (options.EndDistance > options.StartDistance) { subPath = transformedPath.SubPath(startPoint, options.EndDistance-options.StartDistance); } if (subPath.Count < 2) { subPath.Clear(); Coordinates startPt = startPoint.Location; subPath.Add(startPt); subPath.Add(centerlinePath.GetSegment(startPoint.Index).UnitVector*Math.Max(options.EndDistance-options.StartDistance, 0.1)+startPt); } return subPath; }