// Is the posterior evidence consistent over time?
private bool Ct(List <PosteriorEvidence> e1t)
{
ArbiterLane lane = null;
if (e1t.Count == 50)
{
// check if previous are consistent
for (int i = 0; i < e1t.Count; i++)
{
if (e1t[i].LaneProbabilities.Count > 0)
{
double max = Double.MinValue;
ArbiterLane curLane = null;
foreach (KeyValuePair <ArbiterLane, double> est in e1t[i].LaneProbabilities)
{
if (est.Value > max || curLane == null)
{
max = est.Value;
curLane = est.Key;
}
}
if (lane == null)
{
lane = curLane;
}
else
{
if (!lane.Equals(curLane))
{
return(false);
}
}
}
}
if (lane == null)
{
return(false);
}
else
{
this.sceneLikelyLane = lane;
CoreCommon.CurrentInformation.LASceneLikelyLane = this.sceneLikelyLane.ToString();
return(true);
}
}
else
{
this.sceneLikelyLane = null;
return(false);
}
}