/// <summary>
/// World service
/// </summary>
/// <param name="arn"></param>
public WorldService(ArbiterRoadNetwork arn)
{
this.RoadNetwork = arn;
this.worldState = new WorldState();
this.lidar = new SimSensor(Math.PI/3, -Math.PI/3, 0.5*Math.PI/180.0, SensorType.Scan, 50);
this.lidar2 = new SimSensor(4 * Math.PI / 3, 2 * Math.PI / 3, 0.5 * Math.PI / 180.0, SensorType.Scan, 30);
}
/// <summary>
/// Initialize this instance.
/// </summary>
public override void Initialize()
{
base.Initialize();
TheSensor = new SimSensor <BaseGameEntity>(this);
TheSensor.Initialize();
}
static void Main(string[] args)
{
SimSensor sensor = new SimSensor(Math.PI/4, -Math.PI/4, 1*Math.PI/180, SensorType.Scan, 30);
SimObstacleState obsState = new SimObstacleState();
obsState.Position = new Coordinates(5, 5);
obsState.Length = 4;
obsState.Width = 2;
obsState.Heading = new Coordinates(1, 0);
Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();
sensor.GetHits(poly, Coordinates.Zero, 0, clusters);
SimulatorClient client = new SimulatorClient();
client.BeginClient();
}
static void Main(string[] args)
{
SimSensor sensor = new SimSensor(Math.PI / 4, -Math.PI / 4, 1 * Math.PI / 180, SensorType.Scan, 30);
SimObstacleState obsState = new SimObstacleState();
obsState.Position = new Coordinates(5, 5);
obsState.Length = 4;
obsState.Width = 2;
obsState.Heading = new Coordinates(1, 0);
Polygon[] poly = new Polygon[] { obsState.ToPolygon() };
SceneEstimatorUntrackedClusterCollection clusters = new SceneEstimatorUntrackedClusterCollection();
sensor.GetHits(poly, Coordinates.Zero, 0, clusters);
SimulatorClient client = new SimulatorClient();
client.BeginClient();
}
