/// <summary>
/// Constructor
/// </summary>
public BehavioralDirector()
{
laneAgent = new LaneAgent();
navigation = new Navigator();
tactical = new TacticalDirector();
initialization = new InitializationComponent();
CoreCommon.Navigation = navigation;
// create and set blockage handler
blockageHandler = new BlockageHandler();
}
/// <summary>
/// Constructor
/// </summary>
public Core()
{
// initialize turn signals
TurnDecorators.Initialize();
// set initial state
CoreCommon.CorePlanningState = new StartUpState();
// start a new behavioral layer
this.Behavioral = new BehavioralDirector();
// start new lane agent
this.coreLaneAgent = new LaneAgent();
// create execution stopwatch
this.executionStopwatch = new Stopwatch();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="laneAgent"></param>
public StartupReasoning(LaneAgent laneAgent)
{
this.behavioralLaneAgent = laneAgent;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="laneAgent"></param>
public StartupReasoning(LaneAgent laneAgent)
{
this.behavioralLaneAgent = laneAgent;
}