public void mapUpdate(object state)
{
UpdaterInt d = new UpdaterInt(updateMapUpdatesLabel);
this.Dispatcher.Invoke(d, ++updates);
this.UpdateMap(tinySLAM.Map().map, (short)-1);
}
public void Scan(object state)
{
UpdaterInt d = new UpdaterInt(updateIterationsLabel);
this.Dispatcher.Invoke(d, tinySLAM.NumUpdates());
ts_scan_t scan = this.doScan();
ts_position_t position = new ts_position_t();
position.theta = (float)(actualPosition.angle * 180 / Math.PI);
position.x = 1000 * actualPosition.x + SLAMAlgorithm.TS_MAP_SIZE / (SLAMAlgorithm.TS_MAP_SCALE * 2);
position.y = 1000 * actualPosition.y + SLAMAlgorithm.TS_MAP_SIZE / (SLAMAlgorithm.TS_MAP_SCALE * 2);
tinySLAM.NewScan(scan, position);
}
public void Scan(object state)
{
UpdaterInt d = new UpdaterInt(updateIterationsLabel);
this.Dispatcher.Invoke(d, tinySLAM.NumUpdates());
ts_scan_t scan = this.doScan();
ts_position_t position = new ts_position_t();
position.theta = (float)(actualPosition.angle * 180 / Math.PI);
position.x = 1000 * actualPosition.x + SLAMAlgorithm.TS_MAP_SIZE / (SLAMAlgorithm.TS_MAP_SCALE * 2);
position.y = 1000 * actualPosition.y + SLAMAlgorithm.TS_MAP_SIZE / (SLAMAlgorithm.TS_MAP_SCALE * 2);
tinySLAM.NewScan(scan, position);
}
public void mapUpdate(object state)
{
UpdaterInt d = new UpdaterInt(updateMapUpdatesLabel);
this.Dispatcher.Invoke(d, ++updates);
this.UpdateMap(tinySLAM.Map().map, (short)-1);
}
