public bool HitGoal(VehicleState state, Coordinates goal, IAreaSubtypeWaypointId id)
{
// check if forced
if (this.EntryParameters.HasValue && this.EntryParameters.Value.ForcedOpposing)
{
// get other way
ArbiterWay other = this.OpposingLane.Way.WayId.Number == 1 ? this.OpposingLane.Way.Segment.Way2 : this.OpposingLane.Way.Segment.Way1;
// check goal in other way
if (id is ArbiterWaypointId && ((ArbiterWaypointId)id).LaneId.WayId.Equals(other.WayId))
{
// center
Coordinates vehicleCenter = state.Front - state.Heading.Normalize(TahoeParams.VL / 2.0);
// check all lanes
foreach (ArbiterLane al in other.Lanes.Values)
{
// get closest point to the center of this vehicle
bool b = al.LanePath().GetClosestPoint(vehicleCenter).Location.DistanceTo(
al.LanePath().GetClosestPoint(goal).Location) < TahoeParams.VL / 2.0;
if (b)
{
return(true);
}
}
}
}
return(false);
}
public bool HitGoal(VehicleState state, Coordinates goal, IAreaSubtypeWaypointId id)
{
// check if forced
if (this.EntryParameters.HasValue && this.EntryParameters.Value.ForcedOpposing)
{
// get other way
ArbiterWay other = this.OpposingLane.Way.WayId.Number == 1 ? this.OpposingLane.Way.Segment.Way2 : this.OpposingLane.Way.Segment.Way1;
// check goal in other way
if(id is ArbiterWaypointId && ((ArbiterWaypointId)id).LaneId.WayId.Equals(other.WayId))
{
// center
Coordinates vehicleCenter = state.Front - state.Heading.Normalize(TahoeParams.VL / 2.0);
// check all lanes
foreach (ArbiterLane al in other.Lanes.Values)
{
// get closest point to the center of this vehicle
bool b = al.LanePath().GetClosestPoint(vehicleCenter).Location.DistanceTo(
al.LanePath().GetClosestPoint(goal).Location) < TahoeParams.VL / 2.0;
if (b)
return true;
}
}
}
return false;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="number"></param>
/// <param name="id"></param>
public ArbiterCheckpoint(int number, IAreaSubtypeWaypointId id, CheckpointType type)
{
this.CheckpointNumber = number;
this.WaypointId = id;
this.Type = type;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="number"></param>
/// <param name="id"></param>
public ArbiterCheckpoint(int number, IAreaSubtypeWaypointId id)
{
this.CheckpointNumber = number;
this.WaypointId = id;
this.Type = CheckpointType.Normal;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="initial"></param>
/// <param name="final"></param>
public ArbiterInterconnectId(IAreaSubtypeWaypointId initialId, IAreaSubtypeWaypointId finalId)
{
this.initialId = initialId;
this.finalId = finalId;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="initial"></param>
/// <param name="final"></param>
public ArbiterInterconnectId(IAreaSubtypeWaypointId initialId, IAreaSubtypeWaypointId finalId)
{
this.initialId = initialId;
this.finalId = finalId;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="number"></param>
/// <param name="id"></param>
public ArbiterCheckpoint(int number, IAreaSubtypeWaypointId id, CheckpointType type)
{
this.CheckpointNumber = number;
this.WaypointId = id;
this.Type = type;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="number"></param>
/// <param name="id"></param>
public ArbiterCheckpoint(int number, IAreaSubtypeWaypointId id)
{
this.CheckpointNumber = number;
this.WaypointId = id;
this.Type = CheckpointType.Normal;
}
