/// <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);
}
public Boolean IsEntireLinePathClear(IPath p, List <Polygon> obstacles)
{
foreach (IPathSegment seg in p)
{
if (seg is LinePathSegment == false)
{
return(false);
}
LinePathSegment lseg = seg as LinePathSegment;
if (IsLineSegmentClear(lseg, obstacles) == false)
{
return(false);
}
}
return(true);
}
