public async Task<RouteResult> GetRoute(IEnumerable<MapPoint> stops, CancellationToken cancellationToken)
		{
			if (stops == null)
				throw new ArgumentNullException("stops");

			List<Graphic> stopList = new List<Graphic>();
			foreach (var stop in stops)
			{
				stopList.Add(new Graphic(stop));
			}
			if (stopList.Count < 2)
				throw new ArgumentException("Not enough stops");

			//determine which route service to use. Long distance routes should use the long-route service
			Polyline line = new Polyline() { SpatialReference = SpatialReferences.Wgs84 };
			line.Paths.AddPart(stops.Select(m => m.Coordinate));
			var length = GeometryEngine.GeodesicLength(line);
			string svc = routeService;
			if (length > 200000)
				svc = longRouteService;

			//Calculate route
			RouteTask task = new OnlineRouteTask(new Uri(svc)) { HttpMessageHandler = messageHandler };
			var parameters = await task.GetDefaultParametersAsync().ConfigureAwait(false);
			parameters.Stops = new Esri.ArcGISRuntime.Tasks.NetworkAnalyst.FeaturesAsFeature(stopList);
			parameters.ReturnStops = true;
			parameters.OutputLines = OutputLine.TrueShapeWithMeasure;
			parameters.OutSpatialReference = SpatialReferences.Wgs84;
			parameters.DirectionsLengthUnit = LinearUnits.Meters;
			parameters.UseTimeWindows = false;
			parameters.RestrictionAttributeNames = new List<string>(new string[] { "OneWay " });
			return await task.SolveAsync(parameters, cancellationToken);
		}

        internal OverlapConvexHull(Polyline polyline, IEnumerable<Obstacle> obstacles) {
            this.Polyline = polyline;
            this.Obstacles = obstacles.ToList();
            this.PrimaryObstacle = this.Obstacles[0];

            Obstacle.RoundVertices(this.Polyline);
        }

		public override void ViewDidLoad ()
		{
			base.ViewDidLoad ();

			var camera = CameraPosition.FromCamera (0, -180, 3);
			var mapView = MapView.FromCamera (CGRect.Empty, camera);

			// Create a 'normal' polyline.
			var polyline = new Polyline ();
			var path = new MutablePath ();

			path.AddCoordinate (new CLLocationCoordinate2D (37.772323, -122.214897));
			path.AddCoordinate (new CLLocationCoordinate2D (21.291982, -157.821856));
			path.AddCoordinate (new CLLocationCoordinate2D (-18.142599, 178.431));
			path.AddCoordinate (new CLLocationCoordinate2D (-27.46758, 153.0278926));

			polyline.Path = path;
			polyline.StrokeColor = UIColor.Red;
			polyline.StrokeWidth = 2;
			polyline.Map = mapView;
			
			// Copy the previous polyline, change its color, and mark it as geodesic.
			polyline = (Polyline) polyline.Copy ();
			polyline.StrokeColor = UIColor.Green;
			polyline.Geodesic = true;
			polyline.Map = mapView;
			
			View = mapView;
		}

 internal static double DistanceFromPointToPolyline(Point p, Polyline poly) {
     double d = double.PositiveInfinity;
     double u;
     for (PolylinePoint pp = poly.StartPoint; pp.Next != null; pp = pp.Next)
         d = Math.Min(d, Point.DistToLineSegment(p, pp.Point, pp.Next.Point, out u));
     return d;
 }

        public void Create(BlockTableRecord btrPanel, Transaction t)
        {
            Polyline plContour = new Polyline();
             plContour.LayerId = panelBase.Service.Env.IdLayerContourPanel;

             // Определение подрезок и пустот
             defineUndercuts();

             // Outsides - части сторон панели без плитки - заходит под торец другой угловой панели
             addOutsides(btrPanel, t);

             definePtsLeftSide();
             definePtsTopSide();
             definePtsRightSide();
             definePtsBotSide();

             int i = 0;
             ptsLeftSide.ForEach(p => plContour.AddVertexAt(i++, p, 0, 0, 0));
             ptsTopSide.ForEach(p => plContour.AddVertexAt(i++, p, 0, 0, 0));
             ptsRightSide.ForEach(p => plContour.AddVertexAt(i++, p, 0, 0, 0));
             ptsBotSide.ForEach(p => plContour.AddVertexAt(i++, p, 0, 0, 0));

             plContour.Closed = true;
             btrPanel.AppendEntity(plContour);
             t.AddNewlyCreatedDBObject(plContour, true);
        }

 //
 public Movil(ref ObjectId line, ref ObjectId mobile, double minSeparation, double maxSeparation, bool loopTravel)
 {
     this.line = line;
     this.mobile = mobile;
     this.dPromMin = minSeparation;
     this.dPromMax = maxSeparation;
     this.loopTravel = loopTravel;
     this.goal = false;
     this.ruta = Lab3.DBMan.OpenEnity(line) as Polyline;
     this.bloque = Lab3.DBMan.OpenEnity(mobile) as BlockReference;
     this.bloqueCentro = new Point3d((bloque.GeometricExtents.MinPoint.X +
                      bloque.GeometricExtents.MaxPoint.X) / 2,
                      (bloque.GeometricExtents.MinPoint.Y +
                      bloque.GeometricExtents.MaxPoint.Y) / 2,
                      0);
     this.numeroSegmentos = this.ruta.NumberOfVertices - 1;
     this.segmentoActualIndex = 0;
     this.segmentoActual = this.ruta.GetLineSegment2dAt(segmentoActualIndex);
     Lab3.DBMan.UpdateBlockPosition(new Point3d(this.segmentoActual.StartPoint.X, this.segmentoActual.StartPoint.Y, 0), mobile);
     //
     AttributeManager attribute = new AttributeManager(mobile);
     attribute.SetAttribute("Velocity", this.velocity+" [Kms/hr]");
     //
     this.pointActualCurve = 0;
     this.velocityScale = 0.00001f;
     this.velocity = this.UpdateDireccion();
     Lab3.DBMan.UpdateBlockRotation(new Vector2d(this.velocity.X, this.velocity.Y).Angle, this.mobile);
 }

        public static double Get(bool IsLeftComp, double r, Polyline line, Point2d TheIntersectPoint, int Index, Point2d StartPoint)
        {
            double oldBulge = line.GetBulgeAt(Index - 1);
            if (oldBulge == 0)
                return 0;//这里可能不对，可能有两个交点，而默认为一个交点
            else
            {
                double delta = System.Math.Atan(System.Math.Abs(oldBulge)) * 2;

                //这里计算新的半径时，要考虑方向因素，可能新半径会更小，也可能会更大
                //取决于路径的偏移方向，以及圆心的位置
                double newRadius = line.GetPoint2dAt(Index - 1).GetDistanceTo(line.GetPoint2dAt(Index)) / 2 / System.Math.Sin(delta);//新弧的半径
                if (IsLeftComp)
                {
                    if (oldBulge < 0)
                        newRadius += r;
                    else newRadius -= r;
                }
                else
                {
                    if (oldBulge > 0)
                        newRadius += r;
                    else newRadius -= r;
                }

                double newChord = StartPoint.GetDistanceTo(TheIntersectPoint);
                double newBulge = System.Math.Tan(
                    System.Math.Asin(newChord / 2 / newRadius) / 2
                    )
                    * line.GetBulgeAt(Index - 1) / System.Math.Abs(line.GetBulgeAt(Index - 1));
                return -newBulge;
            }
        }

        public void GetNodesBetweenPointsReturnPointsInCorrectOrder1()
        {
            PointGeo start = new PointGeo(1, 1);
            PointGeo middle1 = new PointGeo(1, 1.5);
            PointGeo middle2 = new PointGeo(1, 1.6);
            PointGeo middle3 = new PointGeo(1, 1.7);
            PointGeo end = new PointGeo(1, 2);
            Polyline<IPointGeo> line = new Polyline<IPointGeo>();
            line.Nodes.Add(start);
            line.Nodes.Add(middle1);
            line.Nodes.Add(middle2);
            line.Nodes.Add(middle3);
            line.Nodes.Add(end);

            var result = Topology.GetNodesBetweenPoints(new PointGeo(1, 1.1), new PointGeo(1, 1.9), line).ToList();
            Assert.Equal(3, result.Count());
            Assert.Equal(middle1, result[0]);
            Assert.Equal(middle2, result[1]);
            Assert.Equal(middle3, result[2]);

            result = Topology.GetNodesBetweenPoints(new PointGeo(1, 1.9), new PointGeo(1, 1.1), line).ToList();
            Assert.Equal(3, result.Count());
            Assert.Equal(middle3, result[0]);
            Assert.Equal(middle2, result[1]);
            Assert.Equal(middle1, result[2]);
        }

		/// <summary>
		/// XAML creation of polygon and polyline geometries are currently not supported, so
		/// here they are created in code. Points are generated in the XAML for this sample.
		/// </summary>
		private void CreateGeometries()
		{
			var layer = mapView1.Map.Layers.OfType<GraphicsLayer>().First();
			int i = 0;
			foreach (var g in layer.Graphics)
				g.Attributes["Label"] = "Label #" + (++i).ToString();

			Polyline line = new Polyline(FromArray(-100,-30, -80,0, -60,-30, -40,0), SpatialReferences.Wgs84);
			var graphic = new Graphic(line, (Esri.ArcGISRuntime.Symbology.Symbol)Resources["OutlinedAndDashedSymbol"]);
			graphic.Attributes["Label"] = "OutlinedAndDashedSymbol";
			layer.Graphics.Add(graphic);

			Polygon polygon = new Polygon(FromArray(-30,-30, 0,-30, 0,0, -15,-10, -30,0, -30,-30), SpatialReferences.Wgs84);
			graphic = new Graphic(polygon, (Esri.ArcGISRuntime.Symbology.Symbol)Resources["VertexFillSymbol"]);
			graphic.Attributes["Label"] = "VertexFillSymbol";
			layer.Graphics.Add(graphic);

			//CIM symbols can only be created from JSON. The JSON is currently only constructed by publishing services to ArcGIS Server with advanced symbology
			string CIMSymbolJson = "{\"type\":\"CIMSymbolReference\",\"symbol\":{\"type\":\"CIMLineSymbol\",\"symbolLayers\":[{\"type\":\"CIMFilledStroke\",\"enable\":true,\"effects\":[{\"type\":\"CIMGeometricEffectArrow\",\"geometricEffectArrowType\":\"Block\",\"primitiveName\":null,\"width\":35}],\"capStyle\":\"Round\",\"pattern\":{\"type\":\"CIMSolidPattern\",\"color\":[0,0,0,255]},\"width\":2,\"lineStyle3D\":\"Strip\",\"alignment\":\"Center\",\"joinStyle\":\"Miter\",\"miterLimit\":10,\"patternFollowsStroke\":true}]},\"symbolName\":null}";
			var cimsymbol = Esri.ArcGISRuntime.Symbology.Symbol.FromJson(CIMSymbolJson);
			Polyline line2 = new Polyline(FromArray(20, -30, 30, 0, 50, -30, 70, 0), SpatialReferences.Wgs84);
			graphic = new Graphic(line2, cimsymbol);
			graphic.Attributes["Label"] = "CIM Symbol";
			layer.Graphics.Add(graphic);

			i = 0;
			foreach (var g in layer.Graphics)
			{
				g.Attributes["SymbolType"] = g.Symbol.GetType().Name;
				g.Attributes["ID"] = ++i;
			}
		}

        public PolylineBuilder Add()
        {
            var polyline = new Polyline(this.Map);

            this.Map.Polylines.Add(polyline);

            return new PolylineBuilder(polyline);
        }

        public void ExtrudedSolidCommand()
        {
            var document = Application.DocumentManager.MdiActiveDocument;

            if (document == null) // don't bother doing anything else
                return;

            using (var polyline = new Polyline())
            {
                var extrudedSquareInputResult = GetExtrusionInputFromUser();

                // convenience variables
                var width = extrudedSquareInputResult.Width;
                var height = extrudedSquareInputResult.Height;
                var depth = extrudedSquareInputResult.Depth;

                // Using the polyline, we add vertices based on the user's input
                polyline.AddVertexAt(0, Point2d.Origin, 0.0, 0.0, 0.0);
                polyline.AddVertexAt(1, new Point2d(width, 0.0), 0.0, 0.0, 0.0);
                polyline.AddVertexAt(2, new Point2d(width, height), 0.0, 0.0, 0.0);
                polyline.AddVertexAt(3, new Point2d(0.0, height), 0.0, 0.0, 0.0);
                polyline.Closed = true;

                // add polyline to DBObjectCollection for us in creating region from curves
                using (var dbObjectCollection = new DBObjectCollection { polyline })
                {
                    using (var regionCollection = Region.CreateFromCurves(dbObjectCollection))
                    {
                        using (var region = (Region)regionCollection[0])
                        {
                            using (var solid = new Solid3d())
                            {
                                // extrude the region to the depth the user specified
                                solid.Extrude(region, depth, 0.0);
                                using (document.LockDocument())
                                {
                                    using (var database = document.Database)
                                    {
                                        using (var transaction = database.TransactionManager.StartTransaction())
                                        {
                                            // get the current space for appending our extruded solid
                                            using (var currentSpace = (BlockTableRecord)transaction.GetObject(database.CurrentSpaceId, OpenMode.ForWrite))
                                            {
                                                currentSpace.AppendEntity(solid);
                                            }

                                            transaction.AddNewlyCreatedDBObject(solid, true);
                                            transaction.Commit();
                                        }
                                    }
                                }
                            }
                        }
                    }

                }
            }
        }

        private static SurveyPolyline CreateSurveyPolylineFromLine(ILine line)
        {
            IPolyline polyline = new Polyline(line.Id,
                                              line.RunDirection);

            polyline.AddSegment(line);

            return new SurveyPolyline(polyline);
        }

 public static Polyline PolylineAroundClosedCurve(ICurve curve) {
     Polyline poly = new Polyline();
     foreach (Point point in PointsOnAroundPolyline(curve))
         poly.AddPoint(point);
     if (Point.GetTriangleOrientation(poly.StartPoint.Point, poly.StartPoint.Next.Point, poly.StartPoint.Next.Next.Point) == TriangleOrientation.Counterclockwise)
         poly = (Polyline)poly.Reverse();
     poly.Closed = true;
     return poly;
 }

        internal Polygon(Polyline polyline) {
            this.polyline = polyline;
            points = new PolylinePoint[polyline.Count];
            int i = 0;
            PolylinePoint pp = polyline.StartPoint;
            for (; i < polyline.Count; i++, pp = pp.Next)
                points[i] = pp;

        }

 /// <summary>
 /// Creates a new Polyline that is the result of projecting the transformed MinPoint and MaxPoint of 'extents' 
 /// parallel to 'direction' onto 'plane' and returns it.
 /// </summary>
 /// <param name="extents">The Extents3d of a transformed from World to dirPlane Polyline.</param>
 /// <param name="plane">The plane onto which the points are to be projected.</param>
 /// <param name="direction">Direction (in WCS coordinates) of the projection</param>
 /// <param name="dirPlane">The plane which origin is 0, 0, 0 and 'direction' is the normal.</param>
 /// <returns>The newly created Polyline.</returns>
 internal static Polyline ProjectExtents(Extents3d extents, Plane plane, Vector3d direction, Plane dirPlane)
 {
     Point3d pt1 = extents.MinPoint.TransformBy(Matrix3d.PlaneToWorld(dirPlane));
     Point3d pt2 = extents.MaxPoint.TransformBy(Matrix3d.PlaneToWorld(dirPlane));
     Polyline projectedPline = new Polyline(2);
     projectedPline.AddVertexAt(0, pt1.Project(plane, direction).Convert2d(), 0.0, 0.0, 0.0);
     projectedPline.AddVertexAt(1, pt2.Project(plane, direction).Convert2d(), 0.0, 0.0, 0.0);
     return projectedPline;
 }

 /// <summary>
 /// Creates the part.
 /// </summary>
 /// <returns>
 /// UIElement
 /// </returns>
 public override UIElement CreatePart()
 {
     Lines = new Polyline();
     PointCollection pointsCollection=new PointCollection {StartPoint, StepPoint, EndPoint};
     Lines.Points = pointsCollection;
     SetBindingForStrokeandStrokeThickness(Lines);
     UiElement = Lines;
     return Lines;
 }

        // 만들어진 폴리라인을 가지고 선형을 만들어주는 메소드 선형뿐만아니라 그리드 뷰까지 찍어줌
        public Alignment CreateAlign(Polyline guid)
        {
            Document dc = Autodesk.AutoCAD.ApplicationServices.Application.DocumentManager.MdiActiveDocument; // 현재 도큐먼트를 가져옴
            Database db = dc.Database; // 현재 데이터베이스를 가져옴

            CivilDocument doc = CivilApplication.ActiveDocument;
            Editor ed = Autodesk.AutoCAD.ApplicationServices.Application.DocumentManager.MdiActiveDocument.Editor;

            using (Transaction acTrans = db.TransactionManager.StartTransaction())
            {
                BlockTable acBlktbl = acTrans.GetObject(db.BlockTableId, OpenMode.ForRead) as BlockTable; // 선을 그리기 위한 블럭테이블 생성
                BlockTableRecord acblkTblrec = acTrans.GetObject(acBlktbl[BlockTableRecord.ModelSpace], OpenMode.ForWrite) as BlockTableRecord; // 어디 도면에 그릴지 선택

                PolylineOptions plops = new PolylineOptions(); // 폴리라인 옵션 지정

                plops.AddCurvesBetweenTangents = true;
                plops.EraseExistingEntities = true;
                plops.PlineId = guid.ObjectId;

                ObjectId testAlignmentID = Alignment.Create(doc, plops, "내가만든 선형", null, "0", "Proposed", "All Labels");

                Alignment oAlignment = acTrans.GetObject(testAlignmentID, OpenMode.ForRead) as Alignment;

                ObjectId layerId = oAlignment.LayerId;
                // get first surface in the document
                ObjectId surfaceId = doc.GetSurfaceIds()[0];
                // get first style in the document
                ObjectId styleId = doc.Styles.ProfileStyles[0];
                // get the first label set style in the document
                ObjectId labelSetId = doc.Styles.LabelSetStyles.ProfileLabelSetStyles[0];

                try
                {
                    ObjectId profileId = Profile.CreateFromSurface("My Profile", testAlignmentID, surfaceId, layerId, styleId, labelSetId);

                }
                catch (Autodesk.AutoCAD.Runtime.Exception e)
                {
                    ed.WriteMessage(e.Message);
                }

                PromptPointResult pPtRes;
                PromptPointOptions pPtOpts = new PromptPointOptions("종단뷰를 그릴 위치를 찍어주세요~");
                pPtRes = dc.Editor.GetPoint(pPtOpts);
                Point3d ptStart = pPtRes.Value;
                if (pPtRes.Status == PromptStatus.Cancel) return null;

                // ObjectId ProfileViewId = ProfileView.Create(alignID, ptStart);
                ObjectId pfrVBSStyleId = doc.Styles.ProfileViewBandSetStyles[8];

                ObjectId ProfileViewId2 = ProfileView.Create(doc, "My Profile", pfrVBSStyleId, testAlignmentID, ptStart);
                //doc, "My Profile View", pfrVBSStyleId, alignID, ptInsert
                acTrans.Commit();
                return oAlignment;
            }
        }

 public static List<PolylineVertex> GetVertexes(Polyline pl, string name)
 {
     var res = new List<PolylineVertex>();
     for (int i = 0; i < pl.NumberOfVertices; i++)
     {
         var pt = pl.GetPoint2dAt(i);
         res.Add(new PolylineVertex(name, i, pt));
     }
     return res;
 }

 public static Polyline GetPolyline(this Extents3d ext)
 {
     var pl = new Polyline();
     pl.AddVertexAt(0, ext.MinPoint.Convert2d(), 0, 0, 0);
     pl.AddVertexAt(1, new Point2d (ext.MinPoint.X, ext.MaxPoint.Y) , 0, 0, 0);
     pl.AddVertexAt(2, ext.MaxPoint.Convert2d(), 0, 0, 0);
     pl.AddVertexAt(3, new Point2d(ext.MaxPoint.X, ext.MinPoint.Y), 0, 0, 0);
     pl.Closed = true;
     return pl;
 }

        public void PolylineNodesCountReturnsCorrectValue()
        {
            PointGeo p1 = new PointGeo(1, 2);
            PointGeo p2 = new PointGeo(3, 4);

            Polyline<PointGeo> target = new Polyline<PointGeo>();
            target.Nodes.Add(p1);
            target.Nodes.Add(p2);

            Assert.Equal(2, target.NodesCount);
        }