/// <summary>
/// Make a vehicle state from a sim vehicle state
/// </summary>
/// <param name="simState"></param>
/// <returns></returns>
public VehicleState VehicleStateFromSim(SimVehicleState simState)
{
// vehicle state
VehicleState vs = new VehicleState();
// area
vs.Area = new List<AreaEstimate>();
// ae
AreaEstimate ae = new AreaEstimate();
ae.Probability = 1;
// get string id
string id = "";
// set id
ae.AreaId = id;
ae.AreaType = StateAreaType.Interconnect;
// get area
IAreaSubtypeId iasi = this.GetAreaId(simState);
if (iasi is ArbiterPerimeterId)
{
id = ((ArbiterPerimeterId)iasi).ToString();
ae.AreaType = StateAreaType.Zone;
}
else if (iasi is ArbiterLaneId)
{
ae.AreaId = ((ArbiterLaneId)iasi).ToString() + ".1";
ae.AreaType = StateAreaType.Lane;
}
// add ae
vs.Area.Add(ae);
// set others
vs.Heading = simState.Heading;
vs.Position = simState.Position;
// return
return vs;
}
private AreaEstimate[] GetAreaEstimates(SimVehicleState svs)
{
List<AreaEstimate> estimates = new List<AreaEstimate>();
foreach (IVehicleArea iva in this.RoadNetwork.VehicleAreas)
{
if (iva.ContainsVehicle(svs.Position, svs.Length, svs.Width, svs.Heading))
{
AreaEstimate ae = new AreaEstimate();
ae.AreaId = iva.DefaultAreaId();
if(iva is ArbiterInterconnect)
ae.AreaType = StateAreaType.Interconnect;
else if(iva is ArbiterLane)
ae.AreaType = StateAreaType.Lane;
else
ae.AreaType = StateAreaType.Zone;
ae.Probability = 1;
estimates.Add(ae);
}
}
return estimates.ToArray();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="id"></param>
/// <param name="length"></param>
/// <param name="width"></param>
/// <param name="absolutePosition"></param>
/// <param name="heading"></param>
/// <param name="speed"></param>
/// <param name="observationState"></param>
/// <param name="observationStatus"></param>
public ObservedVehicle(int id, double length, double width, Coordinates absolutePosition,
Coordinates heading, double speed, ObservedVehicleState observationState,
ObservedVehicleStatus observationStatus, AreaEstimate[] areaEstimates, bool isStopped)
{
this.Id = id;
this.Length = length;
this.Width = width;
this.AbsolutePosition = absolutePosition;
this.Heading = heading;
this.Speed = speed;
this.ObservationState = observationState;
this.ObservationStatus = observationStatus;
this.AreaEstimates = areaEstimates;
this.IsStopped = isStopped;
}
