public virtual bool Equals(IPathSegment other)
{
LinePathSegment lps = other as LinePathSegment;
if (lps != null)
{
return(lps.start == start && lps.end == end);
}
else
{
return(false);
}
}
/// <summary>
/// Starting from the goal, recursively follow its parent while inserting it into the path, because it's moving backward
/// </summary>
/// <param name="goal"></param>
/// <param name="pathToAdd"></param>
private void GetToRoot(RRTNode goal, ref IPath pathToAdd)
{
if (goal.IsRoot == false)
{
IPathSegment segment = new LinePathSegment(goal.Parent.Point, goal.Point);
pathToAdd.Insert(0, segment);
GetToRoot((RRTNode)goal.Parent, ref pathToAdd);
}
}
private void ConvertNodeToPath(IPath newNodePath, RRTNode goalNode, List<RobotTwoWheelCommand> inputList)
{
if (goalNode.IsRoot) return;
IPathSegment segment = new LinePathSegment(goalNode.Parent.Point, goalNode.Point);
newNodePath.Insert(0, segment);
inputList.Insert(0, new RobotTwoWheelCommand(goalNode.State.Command.velocity, goalNode.State.Command.turn));
ConvertNodeToPath(newNodePath, goalNode.GetParent(), inputList);
}
private Boolean IsLineSegmentClear(LinePathSegment seg, List<Polygon> obstacles)
{
foreach (Polygon poly in obstacles)
{
if (poly.IsInside(seg.Start)) return false;
if (poly.IsInside(seg.End)) return false;
}
return true;
}
