/// <summary>
/// Plan over all exits
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan GetIntersectionExitPlan(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// initialize the intersection plan
IntersectionPlan ip = new IntersectionPlan(exitWaypoint, new List <PlanableInterconnect>(), null);
ip.ExitWaypoint = exitWaypoint;
//check valid exit
if (exitWaypoint.IsExit)
{
// plan over each interconnect
foreach (ArbiterInterconnect ai in exitWaypoint.Exits)
{
// start of plan is the final wp of itner
INavigableNode start = (INavigableNode)ai.FinalGeneric;
// plan
double time;
List <INavigableNode> nodes;
this.Plan(start, goal, out nodes, out time);
time += ai.TimeCost();
// create planned interconnect
PlanableInterconnect pi = new PlanableInterconnect(ai, time, nodes);
// add planned interconnect to the intersection plan
ip.PossibleEntries.Add(pi);
}
}
// return the plan
return(ip);
}
/// <summary>
/// Plan over all exits
/// </summary>
/// <param name="exitWaypoint"></param>
/// <param name="goal"></param>
/// <returns></returns>
public IntersectionPlan GetIntersectionExitPlan(ITraversableWaypoint exitWaypoint, INavigableNode goal)
{
// initialize the intersection plan
IntersectionPlan ip = new IntersectionPlan(exitWaypoint, new List<PlanableInterconnect>(), null);
ip.ExitWaypoint = exitWaypoint;
//check valid exit
if (exitWaypoint.IsExit)
{
// plan over each interconnect
foreach (ArbiterInterconnect ai in exitWaypoint.Exits)
{
// start of plan is the final wp of itner
INavigableNode start = (INavigableNode)ai.FinalGeneric;
// plan
double time;
List<INavigableNode> nodes;
this.Plan(start, goal, out nodes, out time);
time += ai.TimeCost();
// create planned interconnect
PlanableInterconnect pi = new PlanableInterconnect(ai, time, nodes);
// add planned interconnect to the intersection plan
ip.PossibleEntries.Add(pi);
}
}
// return the plan
return ip;
}
