public void UpdateInfo(
SlamPackage package,
ICloudObjectsContainer <SlamPoint> pointsMap,
ICloudObjectsContainer <SlamObservation> graph)
{
listBoxWithSpecializedObjects.Clear();
if (package == null)
{
commonIformation.text = "";
return;
}
commonIformation.text = package.ToString();
SlamPoint[] specialPts = package.Points.Where(p => p.id != -1).Where(p => p.message != null).ToArray();
Vector3[] ptsPositionsFromMap = specialPts.Select(p => pointsMap[p].position).ToArray();
SlamObservation[] specialObs = package.Observations
.Where(o => o.Point.id != -1)
.Where(o => o.Point.message != null)
.ToArray();
Vector3[] obsPositionsFromMap = specialObs.Select(o => graph[o].Point.position).ToArray();
for (int i = 0; i < specialPts.Length; ++i)
{
var item = listBoxWithSpecializedObjects.Add() as SpecialInfoListBoxItem;
item.SetObject(specialPts[i].id, specialPts[i].ToString(), ptsPositionsFromMap[i], specialPts[i].message);
}
for (int i = 0; i < specialObs.Length; ++i)
{
var item = listBoxWithSpecializedObjects.Add() as SpecialInfoListBoxItem;
item.SetObject(specialObs[i].Point.id, specialObs[i].ToString(), obsPositionsFromMap[i], specialObs[i].Point.message);
}
}
public static void Test(
SlamPackage package,
IEnumerable <SlamPoint> objects,
string messageTemplate)
{
var objArray = objects.ToArray();
if (objArray.Length != 0)
{
ElektronikLogger.Log(package.ToString(), "", LogType.Error);
foreach (var obj in objArray)
{
string msg = String.Format(messageTemplate, obj.id, obj.isNew, obj.isRemoved);
ElektronikLogger.Log(msg, "", LogType.Error);
}
}
}