/// <summary>
/// Constructor
/// </summary>
/// <param name="lane"></param>
public StayInLaneState(ArbiterLane lane, Probability confidence, IState previous)
{
this.Lane = lane;
this.internalLaneState = new InternalState(lane.LaneId, lane.LaneId, confidence);
this.IgnorableWaypoints = new List<IgnorableWaypoint>();
this.CheckPreviousState(previous);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="lane"></param>
/// <param name="stopPoint"></param>
/// <param name="currentPosition"></param>
/// <param name="timeStamp"></param>
public StoppingState(ArbiterLane lane, Coordinates stopPoint, Coordinates currentPosition, double timeStamp)
{
this.lane = lane;
this.stopPoint = stopPoint;
this.currentPosition = currentPosition;
this.timeStamp = timeStamp;
this.internalState = new InternalState(lane.LaneId, lane.LaneId);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="lane"></param>
/// <param name="waypoint"></param>
/// <param name="turnDirection"></param>
/// <param name="isNavigationExit"></param>
/// <param name="desiredExit"></param>
public StoppingAtStopState(ArbiterLane lane, ArbiterWaypoint waypoint, ArbiterTurnDirection turnDirection,
bool isNavigationExit, ArbiterInterconnect desiredExit)
{
this.lane = lane;
this.waypoint = waypoint;
this.turnDirection = turnDirection;
this.isNavigationExit = isNavigationExit;
this.desiredExit = desiredExit;
this.internalLaneState = new InternalState(lane.LaneId, lane.LaneId);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="lane"></param>
/// <param name="waypoint"></param>
/// <param name="turnDirection"></param>
/// <param name="isNavigationExit"></param>
/// <param name="desiredExit"></param>
public StoppingAtExitState(ArbiterLane lane, ArbiterWaypoint waypoint, ArbiterTurnDirection turnDirection,
bool isNavigationExit, ArbiterInterconnect desiredExit, double timeStamp, Coordinates currentPosition)
{
this.lane = lane;
this.waypoint = waypoint;
this.turnDirection = turnDirection;
this.isNavigationExit = isNavigationExit;
this.desiredExit = desiredExit;
this.internalLaneState = new InternalState(lane.LaneId, lane.LaneId);
this.timeStamp = timeStamp;
this.currentPosition = currentPosition;
this.internalLaneState = new InternalState(this.lane.LaneId, this.lane.LaneId);
}
/// <summary>
/// Updates teh internal state
/// </summary>
/// <param name="updatedState"></param>
/// <param name="reset"></param>
public void UpdateInternal(InternalState updatedState, bool reset)
{
if (reset)
{
this.PosteriorEvidence = new List<PosteriorEvidence>();
this.PosteriorEvidence.Add(new PosteriorEvidence(new Dictionary<ArbiterLane, double>()));
this.InternalState = new List<InternalState>();
this.InternalState.Add(updatedState);
this.InternalState.Add(updatedState);
this.FilteredEstimate = new List<Probability>();
this.FilteredEstimate.Add(updatedState.Confidence);
}
else
{
if (this.PosteriorEvidence.Count >= maxSteps)
this.PosteriorEvidence.RemoveAt(0);
if (this.InternalState.Count >= maxSteps)
this.InternalState.RemoveAt(0);
if (this.FilteredEstimate.Count >= maxSteps)
this.FilteredEstimate.RemoveAt(0);
this.InternalState.Add(updatedState);
}
CoreCommon.CurrentInformation.LAInitial = updatedState.Target != null ? updatedState.Initial.ToString() : "";
CoreCommon.CurrentInformation.LATarget = updatedState.Target != null ? updatedState.Target.ToString() : "";
}
