public static IList <IntersectionNode> SortIntersectionNodes(IList <IntersectionNode> intersectionNodes, GPSLocation refPoint, double?currentBearing, double viewArc, double distance)
{
foreach (var node in intersectionNodes)
{
double?bearingLocationToWaypoint = LocationHelper.HeadingBetweenTwoGPSLocations(refPoint, node.GPSLocation);
double delta = LocationHelper.DeltaOfVehicleToLaneDirection(currentBearing, bearingLocationToWaypoint);
node.angleDiff = Math.Abs(delta);//Make positive
node.distance = Distance.CalculateDistanceBetween2PointsKMs(refPoint.Latitude, refPoint.Longitude, node.GPSLocation.Latitude, node.GPSLocation.Longitude);
}
var ordered = intersectionNodes.OrderBy(wp => wp.distance)
.ThenBy(wp => wp.angleDiff)
.Where(wp => wp.angleDiff >= -viewArc && wp.angleDiff <= viewArc && wp.distance <= distance);
return(ordered.ToList());
}
public kmlDocumentPlacemark LocateWaypointOnRoute(WaypointDetectionMethod method, List <kmlDocumentPlacemark> route, List <GPSLocation> history, double heading, int waypointIndex = 0)
{
kmlDocumentPlacemark nearestMAPPlacemark = null;
var location = history.Last();
var sortedMAPPoints = GLOSAHelper.SortMAPKMLDataByDistanceFromCurrentLocation(route, location.Latitude, location.Longitude).ToList();
if (sortedMAPPoints != null && sortedMAPPoints.Count > 0)
{
if (method == WaypointDetectionMethod.ShortestDistance)
{
nearestMAPPlacemark = sortedMAPPoints.First();
}
else if (method == WaypointDetectionMethod.DeviceHeading)
{
// No valid method chosen
throw new Exception("Waypoint Detection Method not implemented.");
}
else if (method == WaypointDetectionMethod.GPSHistoryDirection)
{
List <TrafficNode> listOfWaypoints = new List <TrafficNode>();
GPSLocation from = history[history.Count - 2];
GPSLocation to = history[history.Count - 1];
double?vehicleBearing = LocationHelper.HeadingBetweenTwoGPSLocations(from, to);
foreach (var mapPoint in sortedMAPPoints)
{
listOfWaypoints.Add(new TrafficNode()
{
GPSLocation = KMLHelper.XMLCoordinateStringToGPSLocation(mapPoint.Point.coordinates),
ID = mapPoint.name,
angleDiff = 0,
});
}
foreach (var waypoint in listOfWaypoints)
{
double?bearingLocationToWaypoint = LocationHelper.HeadingBetweenTwoGPSLocations(to, waypoint.GPSLocation);
double delta = LocationHelper.DeltaOfVehicleToLaneDirection(vehicleBearing, bearingLocationToWaypoint);
waypoint.angleDiff = Math.Abs(delta);//Make positive
waypoint.distance = Distance.CalculateDistanceBetween2PointsKMs(to.Latitude, to.Longitude, waypoint.GPSLocation.Latitude, waypoint.GPSLocation.Longitude);
}
var sortedByBearingAndDistance = listOfWaypoints.OrderBy(wp => wp.distance)
.ThenBy(wp => wp.angleDiff)
.Where(wp => wp.angleDiff >= -50 && wp.angleDiff <= 50 && wp.distance <= 1.0);
if (sortedByBearingAndDistance != null && sortedByBearingAndDistance.Count() > waypointIndex)
{
var tn = sortedByBearingAndDistance.ToList()[waypointIndex];
var pm = sortedMAPPoints.Find(mp => mp.name == tn.ID);
nearestMAPPlacemark = pm;
}
}
else
{
// No valid method chosen
throw new Exception("Waypoint Detection Method not properly set.");
}
}
return(nearestMAPPlacemark);
}
