/// <summary>
/// Constructor
/// </summary>
/// <param name="zonePerimeter">Perimeter of hte zone</param>
/// <param name="stayOutside">Polygons to stay outside of</param>
/// <param name="speedCommand">Recommended Speed command</param>
public ZoneBehavior(ArbiterZoneId zoneId, Polygon zonePerimeter, Polygon[] stayOutside, ScalarSpeedCommand recommendedSpeedCommand)
{
this.zoneId = zoneId;
this.zonePerimeter = zonePerimeter;
this.stayOutside = stayOutside;
this.speedCommand = recommendedSpeedCommand;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="zoneId"></param>
/// <param name="zonePerimeter"></param>
/// <param name="stayOutside"></param>
/// <param name="speedCommand"></param>
/// <param name="recommendedPath"></param>
/// <param name="endingLeftBound"></param>
/// <param name="endingRightBound"></param>
public ZoneTravelingBehavior(ArbiterZoneId zoneId, Polygon zonePerimeter, Polygon[] stayOutside, ScalarSpeedCommand speedCommand,
LinePath recommendedPath, LinePath endingLeftBound, LinePath endingRightBound)
: base(zoneId, zonePerimeter, stayOutside, speedCommand)
{
this.RecommendedPath = recommendedPath;
this.EndingLeftBound = endingLeftBound;
this.EndingRightBound = endingRightBound;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="zoneId"></param>
/// <param name="zonePerimeter"></param>
/// <param name="stayOutside"></param>
/// <param name="speedCommand"></param>
/// <param name="parkingSpotPath"></param>
/// <param name="spotLeftBound"></param>
/// <param name="spotRightBound"></param>
/// <param name="spotId"></param>
/// <param name="extraDistance"></param>
/// <param name="endingPolygon"></param>
/// <param name="orientations"></param>
public ZoneParkingPullOutBehavior(ArbiterZoneId zoneId, Polygon zonePerimeter, Polygon[] stayOutside, ScalarSpeedCommand speedCommand,
LinePath parkingSpotPath, LinePath spotLeftBound, LinePath spotRightBound, ArbiterParkingSpotId spotId,
LinePath reversePath, LinePath finalLeftBound, LinePath finalRightBound)
: base(zoneId, zonePerimeter, stayOutside, speedCommand, parkingSpotPath, spotLeftBound, spotRightBound, spotId, 0.0)
{
this.RecommendedPullOutPath = reversePath;
this.EndingLeftBound = finalLeftBound;
this.EndingRightBound = finalRightBound;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="zoneId"></param>
/// <param name="zonePerimeter"></param>
/// <param name="stayOutside"></param>
/// <param name="speedCommand"></param>
/// <param name="parkingSpotPath"></param>
/// <param name="spotLeftBound"></param>
/// <param name="spotRightBound"></param>
/// <param name="spotId"></param>
/// <param name="extraDistance"></param>
public ZoneParkingBehavior(ArbiterZoneId zoneId, Polygon zonePerimeter, Polygon[] stayOutside, ScalarSpeedCommand speedCommand,
LinePath parkingSpotPath, LinePath spotLeftBound, LinePath spotRightBound, ArbiterParkingSpotId spotId, double extraDistance)
: base(zoneId, zonePerimeter, stayOutside, speedCommand)
{
this.ParkingSpotPath = parkingSpotPath;
this.SpotLeftBound = spotLeftBound;
this.SpotRightBound = spotRightBound;
this.ParkingSpotId = spotId;
this.ExtraDistance = extraDistance;
}
/// <summary>
/// Generates mission
/// </summary>
/// <param name="mdf"></param>
/// <returns></returns>
public ArbiterMissionDescription GenerateMission(IMdf mdf, ArbiterRoadNetwork arn)
{
Queue <ArbiterCheckpoint> checks = new Queue <ArbiterCheckpoint>();
List <ArbiterSpeedLimit> speeds = new List <ArbiterSpeedLimit>();
// checkpoints
foreach (string s in mdf.CheckpointOrder)
{
int num = int.Parse(s);
checks.Enqueue(new ArbiterCheckpoint(num, arn.Checkpoints[num].AreaSubtypeWaypointId));
}
// speeds
foreach (SpeedLimit sl in mdf.SpeedLimits)
{
ArbiterSpeedLimit asl = new ArbiterSpeedLimit();
asl.MaximumSpeed = sl.MaximumVelocity * 0.44704;
asl.MinimumSpeed = sl.MinimumVelocity * 0.44704;
asl.Traveled = false;
ArbiterSegmentId asi = new ArbiterSegmentId(int.Parse(sl.SegmentID));
ArbiterZoneId azi = new ArbiterZoneId(int.Parse(sl.SegmentID));
if (arn.ArbiterZones.ContainsKey(azi))
{
asl.Area = azi;
}
else if (arn.ArbiterSegments.ContainsKey(asi))
{
asl.Area = asi;
}
else
{
throw new Exception("Unknown area id: " + sl.SegmentID);
}
speeds.Add(asl);
}
// return
return(new ArbiterMissionDescription(checks, speeds));
}
