public override Actuator process(Percept p)
{
currentTimestamp++;
Actuator action = new Nothing();
if (p is LidarSensorInput)
{
LidarSensorInput lidarPerception = (LidarSensorInput)p;
double currDistance = lidarPerception.DistanceTo;
if (hasState)
{
if (currDistance < prevDistance)
{
double relativeVelocity =
(prevDistance - currDistance) / (currentTimestamp - prevDistanceTimestamp);
double timeUntilCollision = currDistance / relativeVelocity;
if (timeUntilCollision < 5)
{
action = new Brake();
}
}
}
// Update agent state with new input
prevDistanceTimestamp = currentTimestamp;
prevDistance = currDistance;
hasState = true;
}
return(action);
}
static void Main(string[] args)
{
LidarSensorInput sensor = new LidarSensorInput();
Agent agent = new SelfDrivingCar();
sensor.DistanceTo = 10;
Actuator action = agent.process(sensor);
Console.WriteLine(action.ToString());
sensor.DistanceTo = 15;
action = agent.process(sensor);
Console.WriteLine(action.ToString());
sensor.DistanceTo = 13;
action = agent.process(sensor);
Console.WriteLine(action.ToString());
sensor.DistanceTo = 10;
action = agent.process(sensor);
Console.WriteLine(action.ToString());
}
