Class SpatialEdge

Represents a spatial or geometric edge of this graph which is able to persist and to manage entities on a continuous geometric line in meters.
Inheritance
System.Object
AbstractGraphElement
SpatialEdge
Inherited Members
Namespace: Mars.Components.Environments
Assembly: Mars.Components.dll
Syntax
public class SpatialEdge : AbstractGraphElement, IEquatable<AbstractGraphElement>, ISpatialEdge, IEdge<ISpatialEdge, ISpatialNode>, IGraphEntity, IEqualityComparer<IGraphEntity>

Constructors

SpatialEdge()

Declaration
public SpatialEdge()

SpatialEdge(ISpatialNode, ISpatialNode)

Creates a new instance of the SpatialEdge without source or target.
Declaration
public SpatialEdge(ISpatialNode from, ISpatialNode to)
Parameters
Type Name Description
ISpatialNode from
ISpatialNode to

SpatialEdge(ISpatialNode, ISpatialNode, Double, Int32, SpatialModalityType[])

Creates a new instance of the directed ISpatialEdge with no parent graph environment
Declaration
public SpatialEdge(ISpatialNode from, ISpatialNode to, double length, int laneCount = 1, SpatialModalityType[] passableTypes = null)
Parameters
Type Name Description
ISpatialNode from The origin of this edge
ISpatialNode to The target of this edge
System.Double length The length of this spatial edge
System.Int32 laneCount The amount of lanes of this spatial edge.
SpatialModalityType[] passableTypes The set of SpatialModalityTypes which can access this edge.

Properties

Attributes

Gets all all data associated to this edge get out by the importer from the provided source
Declaration
public IDictionary<string, object> Attributes { get; set; }
Property Value
Type Description
IDictionary<System.String, System.Object>

DataLaneCount

Gets or sets the LaneCount without initialization.
Declaration
public int DataLaneCount { get; set; }
Property Value
Type Description
System.Int32

DataLanes

Gets or sets the SpatialLanes without initialization.
Declaration
public List<SpatialLane> DataLanes { get; set; }
Property Value
Type Description
List<SpatialLane>

DataModalities

Gets or sets the Modalities without initialization.
Declaration
public ISet<SpatialModalityType> DataModalities { get; set; }
Property Value
Type Description
ISet<SpatialModalityType>

DataModalityLaneRanges

Gets or sets the DataModalityLaneRanges without initialization.
Declaration
public IDictionary<SpatialModalityType, > DataModalityLaneRanges { get; set; }
Property Value
Type Description
IDictionary<SpatialModalityType, System.>

EdgeConnections

Gets or sets the EdgeData assigned to the representing road.
Declaration
public List<EdgeData> EdgeConnections { get; }
Property Value
Type Description
List<EdgeData>

Entities

Gets all the entities on this edge as a readonly collection.
Declaration
public IReadOnlyCollection<ISpatialGraphEntity> Entities { get; }
Property Value
Type Description
IReadOnlyCollection<ISpatialGraphEntity>

EntityLanes

Gets the internal index maintaining all entities positioned along an edge and separated into multiple lane by the index of the outer array.
Declaration
public List<IEntityLane<ISpatialGraphEntity>> EntityLanes { get; set; }
Property Value
Type Description
List<IEntityLane<ISpatialGraphEntity>>

From

The starting point (node) of the edge
Declaration
public ISpatialNode From { get; }
Property Value
Type Description
ISpatialNode

FromNode

Gets or sets the key used to identify the From node.
Declaration
public int FromNode { get; set; }
Property Value
Type Description
System.Int32
Remarks
This property is only be used for de-/serialization purposes.

Geometry

Gets the line and curve form of this spatial edge as a set of ordered geospatial points.
Declaration
public Position[] Geometry { get; set; }
Property Value
Type Description
Position[]

GeometryLength

Gets the line with each element representing the length codes as integer (value * 10000) until this point. This is helper collection to improve the lookup for nearest coordinates along the path in log(log(n) complexity, performed by the interpolation search (Geometry).
Declaration
public int[] GeometryLength { get; set; }
Property Value
Type Description
System.Int32[]

HighwayType

Gets or sets the highway kind of this road segment.
Declaration
public HighwayType HighwayType { get; set; }
Property Value
Type Description
HighwayType

IsOneWay

Gets or sets a flag indicating that this edge has no opposite edge.
Declaration
public bool IsOneWay { get; set; }
Property Value
Type Description
System.Boolean

LaneCount

The amount of lanes where agents can be placed on.
Declaration
public int LaneCount { get; set; }
Property Value
Type Description
System.Int32

Lanes

Gets the lanes of this road edge.
Declaration
public IEnumerable<ISpatialLane> Lanes { get; }
Property Value
Type Description
IEnumerable<ISpatialLane>

Length

Gets the length in meters of this spatial edge
Declaration
public double Length { get; set; }
Property Value
Type Description
System.Double

MaxSpeed

Defines the max speed for this edge in m/s. If the attribute value holds multiple max speeds, then the min value is chosen.
Declaration
public double MaxSpeed { get; set; }
Property Value
Type Description
System.Double

Modalities

Gets or sets the modalities, identified as string to distinguish imported multiple graphs.
Declaration
public ISet<SpatialModalityType> Modalities { get; }
Property Value
Type Description
ISet<SpatialModalityType>

ModalityLaneRanges

Gets the mapping of each SpatialModalityType to their lane range on this edge e.g. CarDriving --> (0,1) Cycling --> (2,2)
Declaration
public IDictionary<SpatialModalityType, > ModalityLaneRanges { get; set; }
Property Value
Type Description
IDictionary<SpatialModalityType, System.>

RoadArea

Gets the polygon representing the area of this road segment.
Declaration
public Polygon RoadArea { get; set; }
Property Value
Type Description
Polygon

SpatialEdgeLock

Gets the lock to handle concurrency on the edge.
Declaration
public ReaderWriterLockSlim SpatialEdgeLock { get; }
Property Value
Type Description
ReaderWriterLockSlim

SpatialLanes

Gets or sets the individual lane array describing each lane with restrictions, geometry and width.
Declaration
public List<SpatialLane> SpatialLanes { get; set; }
Property Value
Type Description
List<SpatialLane>
Examples
______________________________________ [ | | driving [_ _ _ _ _ _ | | [ | | driving,cycling [_ _ _ _ _ _ | Intersection | [#####################| | cycling,walking [/\/\/\/\/\/\/\/\/\/ >| | walking [O O O O O O O O O O >|______________|

To

The end point (node) of the edge
Declaration
public ISpatialNode To { get; }
Property Value
Type Description
ISpatialNode

ToNode

Gets or sets the key used to identify the To node.
Declaration
public int ToNode { get; set; }
Property Value
Type Description
System.Int32
Remarks
This property is only be used for de-/serialization purposes.

TravelTime

Gets the static travel time in seconds required to cross this edge when the max-speed restrictions and the length are considered.
Declaration
public double TravelTime { get; }
Property Value
Type Description
System.Double

Methods

Clear()

Removes all entities on this edge.
Declaration
public void Clear()

Explore(ISpatialGraphEntity, Double, ISpatialEdge)

Explore the agents surroundings
Declaration
public EdgeExploreResult Explore(ISpatialGraphEntity entity, double distance = null, ISpatialEdge nextEdge = null)
Parameters
Type Name Description
ISpatialGraphEntity entity the agent around the explore takes place
System.Double distance determines which objects the agent see's objects that are farther ahead than "distance" will not be returned
ISpatialEdge nextEdge the next edge the agent will move to after traversing the current edge
Returns
Type Description
EdgeExploreResult an edge explore result which contains the found agents

Explore(ISpatialGraphEntity, Double, Boolean, ExploreDirection, ISpatialEdge, Int32[])

Explore the agents surrounded entities for a specified distance in meters and a selected set of lanes or the whole ISpatialEdge if nothing was defined. Every entity what can be see within the distance are collected. Explored entities will be returned grouped by lane in the EdgeExploreResult and ordered by the distance to the outgoing source agent.
Declaration
public EdgeExploreResult Explore(ISpatialGraphEntity entity, double distance, bool onlyNext = false, ExploreDirection direction = ExploreDirection.Forward, ISpatialEdge nextEdge = null, params int[] lanes)
Parameters
Type Name Description
ISpatialGraphEntity entity The outgoing agent specifying the source the exploration.
System.Double distance The exploration distance in meters.
System.Boolean onlyNext The flag indicating that no the entity behind another one with different position shall be explored. Default is false so that each entity also them behind the next one will be collected.
ExploreDirection direction The direction of the exploration. Default is forward same direction as the edge.
ISpatialEdge nextEdge The next edge the agent will move to after traversing the current edge.
System.Int32[] lanes The selected lanes to explore as indices, starting with 0. If no lane was passed each lane will be queried.
Returns
Type Description
EdgeExploreResult An EdgeExploreResult containing a grouping of explores by each lane. Each lane exploration is ordered by the distance of the object to the source.

Explore(Double, Double, Boolean, ExploreDirection, ISpatialEdge, Int32[])

Explore the agents surrounded entities for a specified distance in meters and a selected set of lanes or the whole ISpatialEdge if nothing was defined. Every entity what can be see within the distance are collected. Explored entities will be returned grouped by lane in the EdgeExploreResult and ordered by the distance to the outgoing source agent.
Declaration
public EdgeExploreResult Explore(double source, double distance, bool onlyNext = false, ExploreDirection direction = ExploreDirection.Both, ISpatialEdge nextEdge = null, params int[] lanes)
Parameters
Type Name Description
System.Double source The outgoing source position from which to start the exploration.
System.Double distance The exploration distance in meters.
System.Boolean onlyNext The flag indicating that no the entity behind another one with different position shall be explored. Default is false so that each entity also them behind the next one will be collected.
ExploreDirection direction The direction of the exploration. Default is forward same direction as the edge.
ISpatialEdge nextEdge The next edge the agent will move to after traversing the current edge.
System.Int32[] lanes The selected lanes to explore as indices, starting with 0. If no lane was passed each lane will be queried.
Returns
Type Description
EdgeExploreResult An EdgeExploreResult containing a grouping of explores by each lane. Each lane exploration is ordered by the distance of the object to the source.

ExploreInLaneOnEdge(ISpatialGraphEntity, Double)

Declaration
public int ExploreInLaneOnEdge(ISpatialGraphEntity entity, double distance = null)
Parameters
Type Name Description
ISpatialGraphEntity entity
System.Double distance
Returns
Type Description
System.Int32

Insert(ISpatialGraphEntity, Double, Int32)

Add an entity to the edge
Declaration
public bool Insert(ISpatialGraphEntity entity, double position, int laneIndex)
Parameters
Type Name Description
ISpatialGraphEntity entity The respective entity to insert
System.Double position The position it should be inserted
System.Int32 laneIndex The lane it should be inserted
Returns
Type Description
System.Boolean true -> entity was inserted at desired position and lane false -> the entity was already on the edge or the desired position is already occupied or the desired position is ahead of another entity which would result in an unwanted overtaking maneuver

InsertUnsafe(ISpatialGraphEntity, Double, Int32)

Add an entity to the edge
Declaration
public bool InsertUnsafe(ISpatialGraphEntity entity, double position, int laneIndex)
Parameters
Type Name Description
ISpatialGraphEntity entity The respective entity to insert
System.Double position The position it should be inserted
System.Int32 laneIndex The lane it should be inserted
Returns
Type Description
System.Boolean true -> entity was inserted at desired position and lane false -> the entity was already on the edge or the desired position is already occupied or the desired position is ahead of another entity which would result in an unwanted overtaking maneuver

IsLaneFree(Int32)

Declaration
public bool IsLaneFree(int lane)
Parameters
Type Name Description
System.Int32 lane
Returns
Type Description
System.Boolean

Merge(EdgeData)

Initialize and merges each lanes from given EdgeData.
Declaration
public void Merge(EdgeData laneEdges)
Parameters
Type Name Description
EdgeData laneEdges

Move(ISpatialGraphEntity, Double, Int32)

Move an entity on the edge
Declaration
public bool Move(ISpatialGraphEntity entity, double distance, int desiredLane)
Parameters
Type Name Description
ISpatialGraphEntity entity the entity to move
System.Double distance the distance the entity shall be moved forth
System.Int32 desiredLane the lane the entities wants to move on. This can either be his current lane which or another lane (overtaking maneuver)
Returns
Type Description
System.Boolean an edge move results which contains information about the movement like a success statement and the entities new position (if successfully)

PosAt(ISpatialGraphEntity, Double, Int32)

Declaration
public bool PosAt(ISpatialGraphEntity entity, double position, int desiredLaneIndex)
Parameters
Type Name Description
ISpatialGraphEntity entity
System.Double position
System.Int32 desiredLaneIndex
Returns
Type Description
System.Boolean

Remove(ISpatialGraphEntity)

Remove an entity from the edge and from the respective lane
Declaration
public bool Remove(ISpatialGraphEntity entity)
Parameters
Type Name Description
ISpatialGraphEntity entity The respective entity to remove.
Returns
Type Description
System.Boolean true -> entity was removed false -> entity wasn't on the edge or the remove failed

RemoveUnsafe(ISpatialGraphEntity, Int32)

Provides a custom remove operation based on specific passed position value, where look at on the specified lane to remove the desired entity.
Declaration
public bool RemoveUnsafe(ISpatialGraphEntity entity, int lane = 0)
Parameters
Type Name Description
ISpatialGraphEntity entity The entity to remove.
System.Int32 lane The concrete or maybe last lane on which to remove the entity. Default is 0
Returns
Type Description
System.Boolean Returns true, when the old entry was successfully removed with the passed pos, otherwise false.

Implements

IEquatable<>
IEqualityComparer<>