/// <summary>
/// Plan given that we are starting on a road
/// </summary>
/// <param name="currentLane"></param>
/// <param name="currentPosition"></param>
/// <param name="goal"></param>
/// <returns></returns>
public RoadPlan PlanNavigableArea(INavigableTravelArea currentArea, Coordinates currentPosition, INavigableNode goal, List <ArbiterWaypoint> ignorable)
{
// get all downstream points of interest as well as the goal point of interest
List <DownstreamPointOfInterest> downstreamPoints = currentArea.Downstream(currentPosition, ignorable, goal);
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
this.RouteTimes(downstreamPoints, goal);
// get road plan
RoadPlan rp = this.GetRoadPlan(downstreamPoints);
#region Output
// update arbiter information
List <RouteInformation> routeInfo = rp.RouteInformation(currentPosition);
// make sure we're in a road state
if (CoreCommon.CorePlanningState == null || CoreCommon.CorePlanningState is UrbanChallenge.Arbiter.Core.Common.State.TravelState)
{
// check route 1
if (routeInfo.Count > 0)
{
RouteInformation ri = routeInfo[0];
CoreCommon.CurrentInformation.Route1 = ri;
CoreCommon.CurrentInformation.Route1Time = ri.RouteTimeCost.ToString("F6");
CoreCommon.CurrentInformation.Route1Wp = ri.Waypoint;
}
}
#endregion
// return road plan
return(rp);
}
/// <summary>
/// Seed the road planner
/// </summary>
/// <param name="seedLane"></param>
/// <param name="seedPosition"></param>
/// <param name="goal"></param>
/// <param name="ignorable"></param>
public void SeedRoadPlanner(INavigableTravelArea seed, Coordinates seedPosition, INavigableNode goal, List <ArbiterWaypoint> ignorable)
{
// get all downstream points of interest
List <DownstreamPointOfInterest> downstreamPoints = seed.Downstream(seedPosition, ignorable, goal);
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
this.SeedPlanner(downstreamPoints, goal);
}
/// <summary>
/// Seed the road planner
/// </summary>
/// <param name="seedLane"></param>
/// <param name="seedPosition"></param>
/// <param name="goal"></param>
/// <param name="ignorable"></param>
public void SeedRoadPlanner(INavigableTravelArea seed, Coordinates seedPosition, INavigableNode goal, List<ArbiterWaypoint> ignorable)
{
// get all downstream points of interest
List<DownstreamPointOfInterest> downstreamPoints = seed.Downstream(seedPosition, ignorable, goal);
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
this.SeedPlanner(downstreamPoints, goal);
}
/// <summary>
/// Plan given that we are starting on a road
/// </summary>
/// <param name="currentLane"></param>
/// <param name="currentPosition"></param>
/// <param name="goal"></param>
/// <returns></returns>
public RoadPlan PlanNavigableArea(INavigableTravelArea currentArea, Coordinates currentPosition, INavigableNode goal, List<ArbiterWaypoint> ignorable)
{
// get all downstream points of interest as well as the goal point of interest
List<DownstreamPointOfInterest> downstreamPoints = currentArea.Downstream(currentPosition, ignorable, goal);
// so, for each exit downstream we need to plan from the end of each interconnect to the goal
this.RouteTimes(downstreamPoints, goal);
// get road plan
RoadPlan rp = this.GetRoadPlan(downstreamPoints);
#region Output
// update arbiter information
List<RouteInformation> routeInfo = rp.RouteInformation(currentPosition);
// make sure we're in a road state
if (CoreCommon.CorePlanningState == null || CoreCommon.CorePlanningState is UrbanChallenge.Arbiter.Core.Common.State.TravelState)
{
// check route 1
if (routeInfo.Count > 0)
{
RouteInformation ri = routeInfo[0];
CoreCommon.CurrentInformation.Route1 = ri;
CoreCommon.CurrentInformation.Route1Time = ri.RouteTimeCost.ToString("F6");
CoreCommon.CurrentInformation.Route1Wp = ri.Waypoint;
}
}
#endregion
// return road plan
return rp;
}