public void DetectTouchedPosition() // determine traffic state
{
foreach (RobotUnity r in RobotUnitylist)
{
if (r.FindHeaderIntersectsRiskAreaHeader(this.properties.pose.Position))
{
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_HEADER;
break;
}
else if (r.FindHeaderIntersectsRiskAreaTail(this.properties.pose.Position))
{
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_TAIL;
break;
}
else if (r.FindHeaderIntersectsRiskAreaRightSide(this.properties.pose.Position))
{
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_SIDE;
break;
}
else if (r.FindHeaderIntersectsRiskAreaLeftSide(this.properties.pose.Position))
{
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_SIDE;
break;
}
}
}
public void RegisteRobotInAvailable(Dictionary <String, RobotUnity> RobotUnitylistdc)
{
foreach (var r in RobotUnitylistdc.Values)
{
if (!r.properties.NameId.Equals(this.properties.NameId))
{
this.RobotUnitylist.Add(r);
}
}
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_NOTOUCH;
}
protected override void SupervisorTraffic()
{
if (CheckSafeDistance())
{
if (CheckIntersection())
{
DetectTouchedPosition();
TrafficBehavior();
}
}
else
{
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_NOTOUCH;
TrafficBehavior();
}
}
public void RegisteRobotInAvailable(List <RobotUnity> RobotUnitylist)
{
this.RobotUnitylist = RobotUnitylist;
TrafficBehaviorStateTracking = TrafficBehaviorState.HEADER_TOUCH_NOTOUCH;
}
