/// <summary>
/// basic constructor
/// </summary>
public LidarOpenGlForm(int _bodyModelIndex)
{
InitializeComponent();
// initialization graph
this._graph = new FieldMap.Graph();
this._graph.CreateGraph(zgc1);
// initialization OpenGl variable
this.bodyModelIndex = _bodyModelIndex;
this._map = new Body3DMap(_bodyModelIndex, false);
this.loaded = false;
this.transX = 0;
this.transY = 0;
this.transZ = 0;
this.angle = 0.0;
//this.crop = new List<SickLidar.CartesianPoint>();
cropPoints = new Vector3[361 * 50000];
groundPoints = new Vector3[361 * 50000];
edgePoints = new Vector3[2 * 50000];
idealPathPoints = new Vector3[2 * 50000];
this.cropCnt = 0;
this.cropOffset = 0;
this.groundOffset = 0;
//this.edgeOffset = 0;
this.isManualControl = false;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="_bodyModelIndex"></param>
/// <param name="_read_from_file"></param>
public AugerOpenGlForm(int _bodyModelIndex, bool _read_from_file)
{
InitializeComponent();
this._map = new Body3DMap(_bodyModelIndex, true);
this._auger = new Auger(60.0, 0.0, 1081, 400, 400);
// initialization OpenGl variable
this.bodyModelIndex = _bodyModelIndex;
this.read_from_file = _read_from_file;
this.isManualControl = false;
this.loaded = false;
this.transX = 0;
this.transY = 0;
this.transZ = 0;
this.angle = 0.0;
this._graphXZ = new SickLidar.Graph();
this._graphXZ.CreateHokuyoGraph(this.zg1, "Cartesian Coordinates System, XZ Plane", "X(m)", "Z(m)");
}