/// <summary>
/// Opens an rndf file and transforms the points to xy around a central projection
/// </summary>
/// <param name="fileName"></param>
/// <param name="rndf"></param>
/// <param name="projection"></param>
public static void GenerateXyRndfAndProjection(string fileName, out IRndf rndf, out PlanarProjection projection)
{
// generate the gps rndf
IRndf gpsRndf = GenerateGpsRndf(fileName);
// get the planar projection
projection = GetProjection(gpsRndf);
// create an xy rndf
IRndf xyRndf = gpsRndf;
#region Apply transform to all point
// Get coordinates from segments
foreach (SimpleSegment segment in xyRndf.Segments)
{
// Get coordinates from lanes
List <SimpleLane> lanes = (List <SimpleLane>)segment.Lanes;
foreach (SimpleLane lane in lanes)
{
// Get coordinates from waypoints
List <SimpleWaypoint> waypoints = (List <SimpleWaypoint>)lane.Waypoints;
foreach (SimpleWaypoint waypoint in waypoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(waypoint.Position.X, waypoint.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(position)));
// Add position to the coordinate list
waypoint.Position = tmpXY;
}
}
}
foreach (SimpleZone zone in xyRndf.Zones)
{
// Get coordinates from perimeter
ZonePerimeter perimeter = zone.Perimeter;
List <PerimeterPoint> perimeterPoints = (List <PerimeterPoint>)perimeter.PerimeterPoints;
foreach (PerimeterPoint perimeterPoint in perimeterPoints)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(perimeterPoint.position.X, perimeterPoint.position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(perimeterPoint.position)));
// Add position to the coordinate list
perimeterPoint.position = tmpXY;
}
// Get coordiantes from parking spots
List <ParkingSpot> parkingSpots = (List <ParkingSpot>)zone.ParkingSpots;
foreach (ParkingSpot parkingSpot in parkingSpots)
{
// Transform the gps coordinate into an xy xoordinate
GpsCoordinate position = new GpsCoordinate(parkingSpot.Waypoint1.Position.X, parkingSpot.Waypoint1.Position.Y);
Coordinates tmpXY = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint1.Position)));
// wp1 position set
parkingSpot.Waypoint1.Position = tmpXY;
// Transform the gps coordinate into an xy xoordinate
position = new GpsCoordinate(parkingSpot.Waypoint2.Position.X, parkingSpot.Waypoint2.Position.Y);
Coordinates tmpXY2 = projection.ECEFtoXY(WGS84.LLAtoECEF(GpsTools.DegreesToLLA(parkingSpot.Waypoint2.Position)));
// wp1 position set
parkingSpot.Waypoint2.Position = tmpXY2;
}
}
# endregion
/// <summary>
/// Generates the arbiter zones form the internal xy zones for the input road network
/// </summary>
/// <param name="arn"></param>
/// <returns></returns>
/// <remarks>TODO: add zone cost map, adjacency of parking spots, figure out width</remarks>
public ArbiterRoadNetwork GenerateZones(ArbiterRoadNetwork arn)
{
Dictionary <ArbiterZoneId, ArbiterZone> zones = new Dictionary <ArbiterZoneId, ArbiterZone>();
List <IArbiterWaypoint> waypoints = new List <IArbiterWaypoint>();
foreach (SimpleZone sz in xyZones)
{
ArbiterZoneId azi = new ArbiterZoneId(int.Parse(sz.ZoneID));
#region Generate Perimeter
// old perim
ZonePerimeter zp = sz.Perimeter;
// perim id
ArbiterPerimeterId api = new ArbiterPerimeterId(GenerationTools.GetId(zp.PerimeterID)[1], azi);
#region Perimeter Waypoints
List <ArbiterPerimeterWaypoint> perimeterWaypoints = new List <ArbiterPerimeterWaypoint>();
foreach (PerimeterPoint pp in zp.PerimeterPoints)
{
// id
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(
GenerationTools.GetId(pp.ID)[2], api);
// point
ArbiterPerimeterWaypoint apw = new ArbiterPerimeterWaypoint(apwi, pp.position);
// add
perimeterWaypoints.Add(apw);
waypoints.Add(apw);
arn.DisplayObjects.Add(apw);
arn.LegacyWaypointLookup.Add(pp.ID, apw);
}
#endregion
// generate perimeter
ArbiterPerimeter ap = new ArbiterPerimeter(api, perimeterWaypoints);
arn.DisplayObjects.Add(ap);
// set per in points
foreach (ArbiterPerimeterWaypoint apw in perimeterWaypoints)
{
apw.Perimeter = ap;
}
#region Set Defined Links
// set links among perimeter nodes
for (int i = 1; i <= ap.PerimeterPoints.Count; i++)
{
ArbiterPerimeterWaypointId apwi = new ArbiterPerimeterWaypointId(i, ap.PerimeterId);
ArbiterPerimeterWaypoint apw = ap.PerimeterPoints[apwi];
if (i < ap.PerimeterPoints.Count)
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(i + 1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
else
{
ArbiterPerimeterWaypointId apwiNext = new ArbiterPerimeterWaypointId(1, ap.PerimeterId);
apw.NextPerimeterPoint = ap.PerimeterPoints[apwiNext];
}
}
#endregion
#endregion
#region Generate Parking Spots
List <ArbiterParkingSpot> parkingSpots = new List <ArbiterParkingSpot>();
#region Parking Spots
foreach (ParkingSpot ps in sz.ParkingSpots)
{
// spot id
int apsiNum = GenerationTools.GetId(ps.SpotID)[1];
ArbiterParkingSpotId apsi = new ArbiterParkingSpotId(apsiNum, azi);
// spot width
double spotWidth;
// check if spot width not set
if (ps.SpotWidth == null || ps.SpotWidth == "" || ps.SpotWidth == "0")
{
spotWidth = 3.0;
}
else
{
// convert feet to meters
spotWidth = double.Parse(ps.SpotWidth) * 0.3048;
}
// spot
ArbiterParkingSpot aps = new ArbiterParkingSpot(spotWidth, apsi);
arn.DisplayObjects.Add(aps);
// waypoints
List <ArbiterParkingSpotWaypoint> parkingSpotWaypoints = new List <ArbiterParkingSpotWaypoint>();
#region Parking Spot Waypoints
#region Waypoint 1
// id
int apwi1Number = GenerationTools.GetId(ps.Waypoint1.ID)[2];
ArbiterParkingSpotWaypointId apwi1 = new ArbiterParkingSpotWaypointId(apwi1Number, apsi);
// generate waypoint 1
ArbiterParkingSpotWaypoint apw1 = new ArbiterParkingSpotWaypoint(
ps.Waypoint1.Position, apwi1, aps);
// set
parkingSpotWaypoints.Add(apw1);
waypoints.Add(apw1);
arn.DisplayObjects.Add(apw1);
arn.LegacyWaypointLookup.Add(ps.Waypoint1.ID, apw1);
apw1.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint1.ID)
{
apw1.IsCheckpoint = true;
apw1.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw1;
arn.Checkpoints.Add(apw1.CheckpointId, apw1);
}
else
{
aps.NormalWaypoint = apw1;
}
#endregion
#region Waypoint 2
// id
int apwi2Number = GenerationTools.GetId(ps.Waypoint2.ID)[2];
ArbiterParkingSpotWaypointId apwi2 = new ArbiterParkingSpotWaypointId(apwi2Number, apsi);
// generate waypoint 2
ArbiterParkingSpotWaypoint apw2 = new ArbiterParkingSpotWaypoint(
ps.Waypoint2.Position, apwi2, aps);
// set
parkingSpotWaypoints.Add(apw2);
waypoints.Add(apw2);
arn.DisplayObjects.Add(apw2);
arn.LegacyWaypointLookup.Add(ps.Waypoint2.ID, apw2);
apw2.ParkingSpot = aps;
// checkpoint or not?
if (ps.CheckpointWaypointID == ps.Waypoint2.ID)
{
apw2.IsCheckpoint = true;
apw2.CheckpointId = int.Parse(ps.CheckpointID);
aps.Checkpoint = apw2;
arn.Checkpoints.Add(apw2.CheckpointId, apw2);
}
else
{
aps.NormalWaypoint = apw2;
}
#endregion
#endregion
// set waypoints
aps.SetWaypoints(parkingSpotWaypoints);
// add
parkingSpots.Add(aps);
}
#endregion
#endregion
#region Create Zone
// create zone
ArbiterZone az = new ArbiterZone(azi, ap, parkingSpots, arn);
// zone
az.SpeedLimits = new ArbiterSpeedLimit();
az.SpeedLimits.MaximumSpeed = 2.24;
az.SpeedLimits.MinimumSpeed = 2.24;
// add to final dictionary
zones.Add(az.ZoneId, az);
arn.DisplayObjects.Add(az);
#endregion
}
// set zones
arn.ArbiterZones = zones;
// add waypoints
foreach (IArbiterWaypoint iaw in waypoints)
{
// set waypoint
arn.ArbiterWaypoints.Add(iaw.AreaSubtypeWaypointId, iaw);
}
// return
return(arn);
}