private void loadPathToolStripMenuItem_Click(object sender, EventArgs e)
{
openFileDialog1.DefaultExt = "Path";
openFileDialog1.Filter = "Paths|*.Path";
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
Path = Path.Read(openFileDialog1.FileName);
}
}
public void initAutonomousNav()
{
if (m_Robot == null)
m_Map = new Map(1024, 1024, 0.1f);
else
m_Map = m_Robot.Map;
m_History = new List<PointF>();
m_Scale = 0.05f;
m_PathPen = new Pen(Color.Black, 2.0f);
m_HistoryBrush = new SolidBrush(Color.Black);
m_NoScanWaypointBrush = new SolidBrush(Color.Black);
m_DirectionalScanWaypointBrush = new SolidBrush(Color.Green);
m_FullScanWaypointBrush = new SolidBrush(Color.Blue);
m_RobotBrush = new SolidBrush(Color.DarkGray);
m_BlackPen = new Pen(Color.Black, 2.0f);
m_Path = new Path();
m_MinorGridPen = new Pen(Color.Silver, 1.0f);
m_MinorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dot;
m_MajorGridPen = new Pen(Color.Black, 1.0f);
m_MajorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
m_IndexToMove = -1;
m_MovingPoint = false;
UpdateMap();
if (m_Robot != null)
ScrollToPosition(m_Robot.Telemetry.Position);
}
