/// <summary>
/// Returns arrays to send out through messaging
/// </summary>
/// <param name="largeUDiff"></param>
/// <param name="largeSigDiff"></param>
/// <param name="pijDiff"></param>
/// <param name="colIdx"></param>
/// <param name="rowIdx"></param>
public void GetArraysToSend(out List <Index> indexList, out List <float> heightList, out List <float> covList, out List <float> pijSumList, out List <float> laserHit)
{
int index = 0;
if (indicesDictionary == null)
{
indexList = new List <Index>();
heightList = new List <float>();
covList = new List <float>();
pijSumList = new List <float>();
laserHit = new List <float>();
return;
}
else
{
indexList = new List <Index>(indicesDictionary.Count);
heightList = new List <float>(indicesDictionary.Count);
covList = new List <float>(indicesDictionary.Count);
pijSumList = new List <float>(indicesDictionary.Count);
laserHit = new List <float>(indicesDictionary.Count);
}
lock (locker)
{
foreach (KeyValuePair <Index, int> pair in indicesDictionary)
{
indexList.Add(pair.Key);
heightList.Add((float)uhatGM.GetCellByIdxUnsafe(pair.Key.Col, pair.Key.Row));
//heightList.Add((float)thresholdedHeightMap.GetCellByIdxUnsafe(pair.Key.Col, pair.Key.Row));
covList.Add((float)sigSqrGM.GetCellByIdxUnsafe(pair.Key.Col, pair.Key.Row));
pijSumList.Add((float)pij_sum.GetCellByIdxUnsafe(pair.Key.Col, pair.Key.Row));
laserHit.Add((float)LaserHit.GetCellByIdxUnsafe(pair.Key.Col, pair.Key.Row));
indexMap.SetCellByIdx(pair.Key.Col, pair.Key.Row, 0.0); // reset the index map
}
indicesDictionary.Clear();
}
}
