const GeoPoint &
ScoredTaskPoint::GetLocationScored() const
{
if (IsBoundaryScored() || !HasEntered())
return GetLocationMin();
return GetLocation();
}
OrderedTaskPoint *
OrderedTaskPoint::Clone(const TaskBehaviour &task_behaviour,
const OrderedTaskSettings &ordered_task_settings,
const Waypoint *waypoint) const
{
if (waypoint == NULL)
waypoint = &GetWaypoint();
switch (GetType()) {
case TaskPointType::START:
return new StartPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour,
ordered_task_settings.start_constraints);
case TaskPointType::AST: {
const ASTPoint &src = *(const ASTPoint *)this;
ASTPoint *dest =
new ASTPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour, IsBoundaryScored());
dest->SetScoreExit(src.GetScoreExit());
return dest;
}
case TaskPointType::AAT:
return new AATPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour);
case TaskPointType::FINISH:
return new FinishPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour,
ordered_task_settings.finish_constraints,
IsBoundaryScored());
case TaskPointType::UNORDERED:
/* an OrderedTaskPoint must never be UNORDERED */
gcc_unreachable();
assert(false);
break;
}
return NULL;
}
OrderedTaskPoint*
OrderedTaskPoint::Clone(const TaskBehaviour &task_behaviour,
const OrderedTaskBehaviour &ordered_task_behaviour,
const Waypoint* waypoint) const
{
if (waypoint == NULL)
waypoint = &GetWaypoint();
switch (GetType()) {
case TaskPointType::START:
return new StartPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour,
ordered_task_behaviour.start_constraints);
case TaskPointType::AST:
return new ASTPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour, IsBoundaryScored());
case TaskPointType::AAT:
return new AATPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour);
case TaskPointType::FINISH:
return new FinishPoint(GetObservationZone().Clone(waypoint->location),
*waypoint, task_behaviour,
ordered_task_behaviour.finish_constraints,
IsBoundaryScored());
case TaskPointType::UNORDERED:
/* an OrderedTaskPoint must never be UNORDERED */
assert(false);
break;
}
return NULL;
}
