public void changeLane(ChangeLaneType changeLaneType, double changingLaneDistance) {
RouteStateInfo stateInfo = innerState.getStateInfo();
if (!stateInfo.isOnRoad() || stateInfo.isChangingLane()) {
return;
}
int nextLane = stateInfo.getLane();
if (changeLaneType == ChangeLaneType.LEFT) {
nextLane = Math.max(0, nextLane - 1);
} else {
nextLane = Math.min(stateInfo.getNumLanes() - 1, nextLane + 1);
}
if (nextLane == stateInfo.getLane()) {
return;
}
nextRoadLane = nextLane;
innerState =
new ChangingLaneState(
stateInfo.getRoute(),
stateInfo.getCurrentRoad(),
stateInfo.getLane(),
stateInfo.getCurrentSegment(),
stateInfo.getCurveParameter(),
changeLaneType,
changingLaneDistance);
}
private void changeInnerState() {
RouteStateInfo stateInfo = innerState.getStateInfo();
if (stateInfo.isChangingLane()) {
innerState =
new DirectedRoadState(
stateInfo.getRoute(),
stateInfo.getCurrentRoad(),
stateInfo.getLaneAfterChange(),
stateInfo.getSegmentAfterLaneChange(),
stateInfo.getCurveParameterAfterLaneChange());
} else if (stateInfo.isOnRoad()) {
if (stateInfo.getNextRoad() == null) {
innerState = new ReachedDestinationState(stateInfo.getRoute());
} else {
nextRoadLane = Math.min(nextRoadLane, stateInfo.getNextRoad().getNumLanes());
innerState =
new InnerNodeState(
stateInfo.getRoute(),
stateInfo.getNextNode(),
stateInfo.getCurrentRoad(),
stateInfo.getLane(),
stateInfo.getNextRoad(),
nextRoadLane);
}
} else {
innerState =
new DirectedRoadState(
stateInfo.getRoute(), stateInfo.getNextRoad(), stateInfo.getLaneAfterNode());
}
}