/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">Robot connection</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left)
{
this.MarkInfo = markInfo;
this.StartLookDirection = startLookDirection;
this._robotConnectionHelper = connection;
if (!_robotConnectionHelper.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
_walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork);
_walkWorker.WorkerSupportsCancellation = true;
_walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="robotIP">Robot ip</param>
/// <param name="robotPort">Robot port</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(string robotIP, int robotPort, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left) :
this(new NaoConnectionHelper(robotIP, robotPort), markInfo, startLookDirection)
{
}
