public MapData LocateWaypointWithLineOfSight(WaypointDetectionMethod method, List <GPSLocation> history, int waypointIndex = 0, int viewArc = 0, double distance = 1.0)
{
MapData waypoint = null;
var location = history.Last();
var sortedMAPPoints = GLOSAHelper.SortMAPDataByDistanceFromCurrentLocation(_mapDataCache, location.Latitude, location.Longitude);
if (sortedMAPPoints != null && sortedMAPPoints.Count > 0)
{
switch (method)
{
case WaypointDetectionMethod.ShortestDistance:
waypoint = sortedMAPPoints.First();
break;
case WaypointDetectionMethod.GPSHistoryDirection:
GPSLocation to = history[history.Count - 1];
double? vehicleHeading = LocationHelper.HeadingFromGPSTrail(history);
List <IntersectionNode> listOfMAPDataWaypoints = IntersectionNode.IntersectionNodesFromMAPData(_mapDataCache).ToList();
var filtered = IntersectionNode.Filter(listOfMAPDataWaypoints, vehicleHeading, history);
var sortedByBearingAndDistance = IntersectionNode.SortIntersectionNodes(filtered, to, vehicleHeading, viewArc, distance).ToList();
if (sortedByBearingAndDistance.Count() > waypointIndex)
{
var tn = sortedByBearingAndDistance.ToList()[waypointIndex];
waypoint = tn.MapData;
}
break;
default:
throw new Exception("Waypoint Detection Method not implemented.");
break;
}
}
return(waypoint);
}