diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
index 1559a6784e28cca28a0ffef0010232fde2439c6d..e083a333f7284815a84c9f280e2883f5f109a3da 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs
@@ -279,13 +279,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
CycleIntervalIterator.LeftSample.RoadGradient);
}
+ /// <summary>
+ /// Progress of the distance in the driving cycle.
+ /// </summary>
public double Progress
{
get
{
return _data.Entries.Count > 0
- ? ((CurrentState.Distance - _data.Entries.First().Distance) /
- (_data.Entries.Last().Distance - _data.Entries.First().Distance)).Value()
+ ? (CurrentState.Distance.Value() - _data.Entries.First().Distance.Value()) /
+ (_data.Entries.Last().Distance.Value() - _data.Entries.First().Distance.Value())
: 0;
}
}
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 822d5223faa2a86163b587be203859c4b3e9d8fe..58397a0eab0f5b1b58cf49ea80e66cec919e63bf 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -57,7 +57,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected IDriverStrategy DriverStrategy;
private Dictionary<string, object> _coastData = new Dictionary<string, object>(20);
- private string _currentAction = "";
+ public string CurrentAction = "";
//public MeterPerSquareSecond LookaheadDeceleration { get; protected set; }
@@ -155,7 +155,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
IResponse previousResponse = null)
{
IterationStatistics.Increment(this, "Accelerate");
- _currentAction = "Accelerate";
+ CurrentAction = "Accelerate";
Log.Debug("DrivingAction Accelerate");
var operatingPoint = ComputeAcceleration(ds, targetVelocity);
@@ -235,7 +235,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IResponse DrivingActionCoast(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
{
IterationStatistics.Increment(this, "Coast");
- _currentAction = "Coast";
+ CurrentAction = "Coast";
Log.Debug("DrivingAction Coast");
return CoastOrRollAction(absTime, ds, maxVelocity, gradient, false);
@@ -251,7 +251,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionRoll(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
{
- _currentAction = "Roll";
+ CurrentAction = "Roll";
IterationStatistics.Increment(this, "Roll");
Log.Debug("DrivingAction Roll");
@@ -357,7 +357,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
IResponse previousResponse = null, Meter targetDistance = null)
{
IterationStatistics.Increment(this, "Brake");
- _currentAction = "Brake";
+ CurrentAction = "Brake";
Log.Debug("DrivingAction Brake");
IResponse retVal = null;
@@ -765,7 +765,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionHalt(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
- _currentAction = "Halt";
+ CurrentAction = "Halt";
if (!targetVelocity.IsEqual(0) || !DataBus.VehicleStopped) {
Log.Error("TargetVelocity ({0}) and VehicleVelocity ({1}) must be zero when vehicle is halting!", targetVelocity,
DataBus.VehicleSpeed);
diff --git a/VectoCore/VectoCore/Utils/DelaunayMap.cs b/VectoCore/VectoCore/Utils/DelaunayMap.cs
index f019b82c253647440b99b7be1fc4a8852a4e1003..321c0aa3ba4c2dcafe40748dea24340b74caeed2 100644
--- a/VectoCore/VectoCore/Utils/DelaunayMap.cs
+++ b/VectoCore/VectoCore/Utils/DelaunayMap.cs
@@ -36,6 +36,7 @@ using System.Drawing;
using System.IO;
using System.Linq;
using System.Threading;
+using System.Threading.Tasks;
using System.Windows.Forms.DataVisualization.Charting;
using TUGraz.VectoCommon.Exceptions;
using TUGraz.VectoCommon.Models;
@@ -100,19 +101,22 @@ namespace TUGraz.VectoCore.Utils
foreach (var point in points) {
// If the vertex lies inside the circumcircle of a triangle, the edges of this triangle are
// added to the edge buffer and the triangle is removed from list.
- var point1 = point;
- var containerTriangles = triangles.FindAll(t => t.ContainsInCircumcircle(point1));
- triangles = triangles.Except(containerTriangles).ToList();
-
// Remove duplicate edges. This leaves the convex hull of the edges.
// The edges in this convex hull are oriented counterclockwise!
- var allEdges = containerTriangles.SelectMany(t => t.GetEdges()).ToList();
- var groupedEdges = allEdges.GroupBy(edge => edge).ToList();
- var convexHullEdges = groupedEdges.Where(group => group.Count() == 1).Select(group => group.Key).ToList();
- var newTriangles = convexHullEdges.Select(edge => new Triangle(edge.P1, edge.P2, point)).ToList();
+ var newTriangles = triangles.Select((t, i) => Tuple.Create(i, t, t.ContainsInCircumcircle(point)))
+ .Where(t => t.Item3)
+ .Reverse()
+ .SelectMany(t => {
+ triangles.RemoveAt(t.Item1);
+ return t.Item2.GetEdges();
+ })
+ .GroupBy(edge => edge)
+ .Where(group => group.Count() == 1)
+ .Select(group => new Triangle(group.Key.P1, group.Key.P2, point)).ToList();
triangles.AddRange(newTriangles);
+
//DrawGraph(pointCount, triangles, superTriangle, xmin, xmax, ymin, ymax, point);
pointCount++;
@@ -148,18 +152,18 @@ namespace TUGraz.VectoCore.Utils
}
}
-
/// <summary>
/// Draws the delaunay map (except supertriangle).
/// </summary>
[Conditional("TRACE")]
- private static void DrawGraph(int i, List<Triangle> triangles, Triangle superTriangle, Point[] points, Point lastPoint = null)
+ private static void DrawGraph(int i, List<Triangle> triangles, Triangle superTriangle, Point[] points,
+ Point lastPoint = null)
{
var xmin = points.Min(p => p.X);
var xmax = points.Max(p => p.X);
var ymin = points.Min(p => p.Y);
var ymax = points.Max(p => p.Y);
-
+
using (var chart = new Chart { Width = 1000, Height = 1000 }) {
chart.ChartAreas.Add(new ChartArea("main") {
AxisX = new Axis { Minimum = Math.Min(xmin, xmin), Maximum = Math.Max(xmax, xmax) },
diff --git a/VectoCore/VectoCore/Utils/VectoCSVFile.cs b/VectoCore/VectoCore/Utils/VectoCSVFile.cs
index 8f38a3ad216331d3c090d5e6d159841945ea615c..2029c8659fa0978fad3500f0a3ae03c1d6c814be 100644
--- a/VectoCore/VectoCore/Utils/VectoCSVFile.cs
+++ b/VectoCore/VectoCore/Utils/VectoCSVFile.cs
@@ -58,6 +58,7 @@ namespace TUGraz.VectoCore.Utils
/// </remarks>
public class VectoCSVFile : LoggingObject
{
+ private static readonly Regex HeaderFilter = new Regex(@"\[.*?\]|\<|\>", RegexOptions.Compiled);
private const char Delimiter = ',';
private const char Comment = '#';
@@ -162,9 +163,7 @@ namespace TUGraz.VectoCore.Utils
private static IEnumerable<string> GetColumns(string line, bool fullHeader = false)
{
if (!fullHeader) {
- line = Regex.Replace(line, @"\[.*?\]", "");
- line = line.Replace("<", "");
- line = line.Replace(">", "");
+ line = HeaderFilter.Replace(line, "");
}
return line.Split(Delimiter).Select(col => col.Trim());
}