if ((lane == 1) && (!lane_0) && (!lane_2))
{
//weightfactor1 = designated_wf;
if ((weightfactor0 < weightfactor2) && (abs(weightfactor0 - weightfactor2) > weight_tol))
{
lane = 0;
lane_flag = 0;
}
else if ((weightfactor0 > weightfactor2) && (abs(weightfactor0 - weightfactor2)>weight_tol))
{
lane = 2;
lane_flag = 1;
}
else if ((weightfactor0 == 1) && (weightfactor2 == 1)) // dummy testing
{
lane = 1;
lane_flag = 1.1;
}
else
{
lane = 1;
lane_flag = 99999;
}
}
cout << "cl:"<<too_close<<",ln: "<<lane<<",d: "<<d<<",l_f:"<<lane_flag<<",L0: "<<lane_0<<",L2: "<<lane_2<<",L1:"<<lane_1<<",wf: "<<"["<<weightfactor0<<","<<weightfactor1<<","<<weightfactor2<<"]"<<"end_d: "<<end_path_d<<endl;
else if ((weightfactor1 == 0) &&(weightfactor2 ==0)) // dummy rare corner case
{
lane = 1;
lane_flag = 11.1;
}
else
{
lane = 2;
lane_flag = 12;
}