public bool VehiclePassableInPolygon(ArbiterLane al, VehicleAgent va, Polygon p, VehicleState ourState, Polygon circ)
{
Polygon vehiclePoly = va.GetAbsolutePolygon(ourState);
vehiclePoly = Polygon.ConvexMinkowskiConvolution(circ, vehiclePoly);
List <Coordinates> pointsOutside = new List <Coordinates>();
ArbiterLanePartition alp = al.GetClosestPartition(va.ClosestPosition);
foreach (Coordinates c in vehiclePoly)
{
if (!p.IsInside(c))
{
pointsOutside.Add(c);
}
}
foreach (Coordinates m in pointsOutside)
{
foreach (Coordinates n in pointsOutside)
{
if (!m.Equals(n))
{
if (GeneralToolkit.TriangleArea(alp.Initial.Position, m, alp.Final.Position) *
GeneralToolkit.TriangleArea(alp.Initial.Position, n, alp.Final.Position) < 0)
{
return(false);
}
}
}
}
return(true);
}
/// <summary>
/// Gets the next navigational stop relavant to us (stop or end) in the closest good lane or our current opposing lane
/// </summary>
/// <param name="closestGood"></param>
/// <param name="coordinates"></param>
/// <param name="ignorable"></param>
/// <param name="navStopSpeed"></param>
/// <param name="navStopDistance"></param>
/// <param name="navStopType"></param>
/// <param name="navStop"></param>
private void NextOpposingNavigationalStop(ArbiterLane opposing, ArbiterLane closestGood, Coordinates coordinates, double extraDistance,
out double navStopSpeed, out double navStopDistance, out StopType navStopType, out ArbiterWaypoint navStop)
{
ArbiterWaypoint current = null;
double minDist = Double.MaxValue;
StopType st = StopType.EndOfLane;
#region Closest Good Parameterization
foreach (ArbiterWaypoint aw in closestGood.WaypointList)
{
if (aw.IsStop || aw.NextPartition == null)
{
double dist = closestGood.DistanceBetween(coordinates, aw.Position);
if (dist < minDist && dist >= 0)
{
current = aw;
minDist = dist;
st = aw.IsStop ? StopType.StopLine : StopType.EndOfLane;
}
}
}
#endregion
#region Opposing Parameterization
ArbiterWaypoint opStart = opposing.GetClosestPartition(coordinates).Initial;
int startIndex = opposing.WaypointList.IndexOf(opStart);
for (int i = startIndex; i >= 0; i--)
{
ArbiterWaypoint aw = opposing.WaypointList[i];
if (aw.IsStop || aw.PreviousPartition == null)
{
double dist = opposing.DistanceBetween(aw.Position, coordinates);
if (dist < minDist && dist >= 0)
{
current = aw;
minDist = dist;
st = aw.IsStop ? StopType.StopLine : StopType.EndOfLane;
}
}
}
#endregion
double tmpDistanceIgnore;
this.StoppingParams(current, closestGood, coordinates, extraDistance, out navStopSpeed, out tmpDistanceIgnore);
navStop = current;
navStopDistance = minDist;
navStopType = st;
}
public bool VehiclePassableInPolygon(ArbiterLane al, Polygon p, VehicleState ourState, Polygon circ)
{
List <Coordinates> vhcCoords = new List <Coordinates>();
for (int i = 0; i < this.trackedCluster.relativePoints.Length; i++)
{
vhcCoords.Add(this.TransformCoordAbs(this.trackedCluster.relativePoints[i], ourState));
}
Polygon vehiclePoly = Polygon.GrahamScan(vhcCoords);
vehiclePoly = Polygon.ConvexMinkowskiConvolution(circ, vehiclePoly);
ArbiterLanePartition alp = al.GetClosestPartition(this.trackedCluster.closestPoint);
List <Coordinates> pointsOutside = new List <Coordinates>();
foreach (Coordinates c in vehiclePoly)
{
if (!p.IsInside(c))
{
pointsOutside.Add(c);
}
}
foreach (Coordinates m in pointsOutside)
{
foreach (Coordinates n in pointsOutside)
{
if (!m.Equals(n))
{
if (GeneralToolkit.TriangleArea(alp.Initial.Position, m, alp.Final.Position) *
GeneralToolkit.TriangleArea(alp.Initial.Position, n, alp.Final.Position) < 0)
{
return(false);
}
}
}
}
return(true);
}
/// <summary>
/// Startup the vehicle from a certain position, pass the next state back,
/// and initialize the lane agent if possible
/// </summary>
/// <param name="vehicleState"></param>
/// <returns></returns>
public IState Startup(VehicleState vehicleState, CarMode carMode)
{
// check car mode
if (carMode == CarMode.Run)
{
// check areas
ArbiterLane al = CoreCommon.RoadNetwork.ClosestLane(vehicleState.Front);
ArbiterZone az = CoreCommon.RoadNetwork.InZone(vehicleState.Front);
ArbiterIntersection ain = CoreCommon.RoadNetwork.InIntersection(vehicleState.Front);
ArbiterInterconnect ai = CoreCommon.RoadNetwork.ClosestInterconnect(vehicleState.Front, vehicleState.Heading);
if (az != null)
{
// special zone startup
return(new ZoneStartupState(az));
}
if (ain != null)
{
if (al != null)
{
// check lane stuff
PointOnPath lanePoint = al.PartitionPath.GetClosest(vehicleState.Front);
// get distance from front of car
double dist = lanePoint.pt.DistanceTo(vehicleState.Front);
// check dist to lane
if (dist < al.Width + 1.0)
{
// check orientation relative to lane
Coordinates laneVector = al.GetClosestPartition(vehicleState.Front).Vector().Normalize();
// get our heading
Coordinates ourHeading = vehicleState.Heading.Normalize();
// forwards or backwards
bool forwards = true;
// check dist to each other
if (laneVector.DistanceTo(ourHeading) > Math.Sqrt(2.0))
{
// not going forwards
forwards = false;
}
// stay in lane if forwards
if (forwards)
{
ArbiterOutput.Output("Starting up in lane: " + al.ToString());
return(new StayInLaneState(al, new Probability(0.7, 0.3), true, CoreCommon.CorePlanningState));
}
else
{
// Opposing lane
return(new OpposingLanesState(al, true, CoreCommon.CorePlanningState, vehicleState));
}
}
}
// startup intersection state
return(new IntersectionStartupState(ain));
}
if (al != null)
{
// get a startup chute
ArbiterLanePartition startupChute = this.GetStartupChute(vehicleState);
// check if in a startup chute
if (startupChute != null && !startupChute.IsInside(vehicleState.Front))
{
ArbiterOutput.Output("Starting up in chute: " + startupChute.ToString());
return(new StartupOffChuteState(startupChute));
}
// not in a startup chute
else
{
PointOnPath lanePoint = al.PartitionPath.GetClosest(vehicleState.Front);
// get distance from front of car
double dist = lanePoint.pt.DistanceTo(vehicleState.Front);
// check orientation relative to lane
Coordinates laneVector = al.GetClosestPartition(vehicleState.Front).Vector().Normalize();
// get our heading
Coordinates ourHeading = vehicleState.Heading.Normalize();
// forwards or backwards
bool forwards = true;
// check dist to each other
if (laneVector.DistanceTo(ourHeading) > Math.Sqrt(2.0))
{
// not going forwards
forwards = false;
}
// stay in lane if forwards
if (forwards)
{
ArbiterOutput.Output("Starting up in lane: " + al.ToString());
return(new StayInLaneState(al, new Probability(0.7, 0.3), true, CoreCommon.CorePlanningState));
}
else
{
// opposing
return(new OpposingLanesState(al, true, CoreCommon.CorePlanningState, vehicleState));
}
}
}
// fell out
ArbiterOutput.Output("Cannot find area to startup in");
return(CoreCommon.CorePlanningState);
}
else
{
return(CoreCommon.CorePlanningState);
}
}
public override void Process(object param)
{
// inform the base that we're beginning processing
if (!BeginProcess())
{
return;
}
// check if we were given a parameter
if (param != null && param is StayInLaneBehavior)
{
HandleBehavior((StayInLaneBehavior)param);
}
if (reverseGear)
{
ProcessReverse();
return;
}
// figure out the planning distance
double planningDistance = GetPlanningDistance();
if (sparse && planningDistance > 10)
{
planningDistance = 10;
}
double?boundStartDistMin = null;
double?boundEndDistMax = null;
if (laneID != null && Services.RoadNetwork != null)
{
ArbiterLane lane = Services.RoadNetwork.ArbiterSegments[laneID.SegmentId].Lanes[laneID];
AbsolutePose pose = Services.StateProvider.GetAbsolutePose();
ArbiterLanePartition partition = lane.GetClosestPartition(pose.xy);
LinePath partitionPath = partition.UserPartitionPath;
LinePath.PointOnPath closestPoint = partitionPath.GetClosestPoint(pose.xy);
double remainingDist = planningDistance;
double totalDist = partitionPath.DistanceBetween(closestPoint, partitionPath.EndPoint);
remainingDist -= totalDist;
if (sparse)
{
// walk ahead and determine where sparsity ends
bool nonSparseFound = false;
while (remainingDist > 0)
{
// get the next partition
partition = partition.Final.NextPartition;
if (partition == null)
{
break;
}
if (partition.Type != PartitionType.Sparse)
{
nonSparseFound = true;
break;
}
else
{
double dist = partition.UserPartitionPath.PathLength;
totalDist += dist;
remainingDist -= dist;
}
}
if (nonSparseFound)
{
boundStartDistMin = totalDist;
}
}
else
{
// determine if there is a sparse segment upcoming
bool sparseFound = false;
while (remainingDist > 0)
{
partition = partition.Final.NextPartition;
if (partition == null)
{
break;
}
if (partition.Type == PartitionType.Sparse)
{
sparseFound = true;
break;
}
else
{
double dist = partition.Length;
totalDist += dist;
remainingDist -= dist;
}
}
if (sparseFound)
{
boundEndDistMax = totalDist;
sparse = true;
}
}
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in stay in lane, planning distance {0}", planningDistance);
// update the rndf path
RelativeTransform relTransfrom = Services.RelativePose.GetTransform(behaviorTimestamp, curTimestamp);
LinePath curRndfPath = rndfPath.Transform(relTransfrom);
ILaneModel centerLaneModel = Services.RoadModelProvider.GetLaneModel(curRndfPath, rndfPathWidth + extraWidth, curTimestamp, numLanesLeft, numLanesRight);
double avoidanceExtra = sparse ? 5 : 7.5;
LinePath centerLine, leftBound, rightBound;
if (boundEndDistMax != null || boundStartDistMin != null)
{
LinearizeStayInLane(centerLaneModel, planningDistance + avoidanceExtra, null, boundEndDistMax, boundStartDistMin, null, curTimestamp, out centerLine, out leftBound, out rightBound);
}
else
{
LinearizeStayInLane(centerLaneModel, planningDistance + avoidanceExtra, curTimestamp, out centerLine, out leftBound, out rightBound);
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "in stay in lane, center line count: {0}, left bound count: {1}, right bound count: {2}", centerLine.Count, leftBound.Count, rightBound.Count);
// calculate time to collision of opposing obstacle if it exists
LinePath targetLine = centerLine;
double targetWeight = default_lane_alpha_w;
if (sparse)
{
targetWeight = 0.00000025;
}
else if (oncomingVehicleExists)
{
double shiftDist = -(TahoeParams.T + 1);
targetLine = centerLine.ShiftLateral(shiftDist);
targetWeight = 0.01;
}
else if (opposingLaneVehicleExists)
{
double timeToCollision = opposingLaneVehicleDist / (Math.Abs(vs.speed) + Math.Abs(opposingLaneVehicleSpeed));
Services.Dataset.ItemAs <double>("time to collision").Add(timeToCollision, curTimestamp);
if (timeToCollision < 5)
{
// shift to the right
double shiftDist = -TahoeParams.T / 2.0;
targetLine = centerLine.ShiftLateral(shiftDist);
}
}
// set up the planning
AddTargetPath(targetLine, targetWeight);
if (!sparse || boundStartDistMin != null || boundEndDistMax != null)
{
AddLeftBound(leftBound, true);
if (!oncomingVehicleExists)
{
AddRightBound(rightBound, false);
}
}
double targetDist = Math.Max(centerLine.PathLength - avoidanceExtra, planningDistance);
smootherBasePath = centerLine.SubPath(centerLine.StartPoint, targetDist);
maxSmootherBasePathAdvancePoint = smootherBasePath.EndPoint;
double extraDist = (planningDistance + avoidanceExtra) - centerLine.PathLength;
extraDist = Math.Min(extraDist, 5);
if (extraDist > 0)
{
centerLine.Add(centerLine[centerLine.Count - 1] + centerLine.EndSegment.Vector.Normalize(extraDist));
}
avoidanceBasePath = centerLine;
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
// get the overall max speed looking forward from our current point
settings.maxSpeed = GetMaxSpeed(curRndfPath, curRndfPath.AdvancePoint(curRndfPath.ZeroPoint, vs.speed * TahoeParams.actuation_delay));
// get the max speed at the end point
settings.maxEndingSpeed = GetMaxSpeed(curRndfPath, curRndfPath.AdvancePoint(curRndfPath.ZeroPoint, planningDistance));
useAvoidancePath = false;
if (sparse)
{
// limit to 5 mph
laneWidthAtPathEnd = 20;
pathAngleCheckMax = 50;
pathAngleMax = 5 * Math.PI / 180.0;
settings.maxSpeed = Math.Min(settings.maxSpeed, 2.2352);
maxAvoidanceBasePathAdvancePoint = avoidanceBasePath.AdvancePoint(avoidanceBasePath.EndPoint, -2);
//maxSmootherBasePathAdvancePoint = smootherBasePath.AdvancePoint(smootherBasePath.EndPoint, -2);
LinePath leftEdge = RoadEdge.GetLeftEdgeLine();
LinePath rightEdge = RoadEdge.GetRightEdgeLine();
if (leftEdge != null)
{
leftLaneBounds.Add(new Boundary(leftEdge, 0.1, 1, 100, false));
}
if (rightEdge != null)
{
rightLaneBounds.Add(new Boundary(rightEdge, 0.1, 1, 100, false));
}
PlanningResult result = new PlanningResult();
ISteeringCommandGenerator commandGenerator = SparseArcVoting.SparcVote(ref prevCurvature, goalPoint);
if (commandGenerator == null)
{
// we have a block, report dynamically infeasible
result = OnDynamicallyInfeasible(null, null);
}
else
{
result.steeringCommandGenerator = commandGenerator;
result.commandLabel = commandLabel;
}
Track(result, commandLabel);
return;
}
else if (oncomingVehicleExists)
{
laneWidthAtPathEnd = 10;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "max speed set to {0}", settings.maxSpeed);
disablePathAngleCheck = false;
SmoothAndTrack(commandLabel, true);
}
private void HandleBehavior(StayInLaneBehavior b)
{
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(b.TimeStamp);
this.behaviorTimestamp = absTransform.Timestamp;
this.rndfPath = b.BackupPath.Transform(absTransform);
this.rndfPathWidth = b.LaneWidth;
this.numLanesLeft = b.NumLaneLeft;
this.numLanesRight = b.NumLanesRight;
this.laneID = b.TargetLane;
this.ignorableObstacles = b.IgnorableObstacles;
Services.ObstaclePipeline.LastIgnoredObstacles = b.IgnorableObstacles;
HandleSpeedCommand(b.SpeedCommand);
opposingLaneVehicleExists = false;
oncomingVehicleExists = false;
extraWidth = 0;
if (b.Decorators != null)
{
foreach (BehaviorDecorator d in b.Decorators)
{
if (d is OpposingLaneDecorator)
{
opposingLaneVehicleExists = true;
opposingLaneVehicleDist = ((OpposingLaneDecorator)d).Distance;
opposingLaneVehicleSpeed = ((OpposingLaneDecorator)d).Speed;
}
else if (d is OncomingVehicleDecorator)
{
oncomingVehicleExists = true;
oncomingVehicleDist = ((OncomingVehicleDecorator)d).TargetDistance;
oncomingVehicleSpeed = ((OncomingVehicleDecorator)d).TargetSpeed;
oncomingVehicleSpeedCommand = ((OncomingVehicleDecorator)d).SecondarySpeed;
}
else if (d is WidenBoundariesDecorator)
{
extraWidth = ((WidenBoundariesDecorator)d).ExtraWidth;
}
}
}
if (oncomingVehicleExists)
{
double timeToCollision = oncomingVehicleDist / Math.Abs(oncomingVehicleSpeed);
if (oncomingVehicleDist > 30 || timeToCollision > 20 || numLanesRight > 0)
{
oncomingVehicleExists = false;
}
else
{
HandleSpeedCommand(oncomingVehicleSpeedCommand);
}
}
if (laneID != null && Services.RoadNetwork != null)
{
ArbiterLane lane = Services.RoadNetwork.ArbiterSegments[laneID.SegmentId].Lanes[laneID];
AbsolutePose pose = Services.StateProvider.GetAbsolutePose();
sparse = (lane.GetClosestPartition(pose.xy).Type == PartitionType.Sparse);
if (sparse)
{
LinePath.PointOnPath closest = b.BackupPath.GetClosestPoint(pose.xy);
goalPoint = b.BackupPath[closest.Index + 1];
}
}
Services.UIService.PushAbsolutePath(b.BackupPath, b.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(new LineList(), b.TimeStamp, "original path2");
if (sparse)
{
if (Services.ObstaclePipeline.ExtraSpacing == 0)
{
Services.ObstaclePipeline.ExtraSpacing = 0.5;
}
Services.ObstaclePipeline.UseOccupancyGrid = false;
}
else
{
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
smootherSpacingAdjust = 0;
prevCurvature = double.NaN;
}
}