/**************************Initialise Known Features**************************/
/// <summary>
/// Initialise the Scene_Single class with some known features, read from the
/// Settings. Each known feature has its own section, starting with
/// <code>[KnownFeature1]</code> and counting upwards. The feature type is
/// identified with the entry <code>FeatureMeasurementModel=</code>. Further
/// settings are loaded by the feature measurement model itself.
/// </summary>
/// <param name="model_creator"></param>
/// <param name="sim_or_rob"></param>
/// <param name="scene"></param>
/// <returns></returns>
public static uint initialise_known_features(Settings settings,
Feature_Measurement_Model_Creator model_creator,
Sim_Or_Rob sim_or_rob,
Scene_Single scene,
String path,
float MAXIMUM_ANGLE_DIFFERENCE)
{
uint feature_no = 1;
uint num_features = 0;
Settings.Section section = null;
do
{
// Step through the section names
String section_name = "KnownFeature" + Convert.ToString(feature_no);
section = settings.get_section(section_name);
// Does this section exist?
if (section == null)
{
return num_features;
}
ArrayList values = section.get_entry("FeatureMeasurementModel");
if (values == null)
{
Debug.WriteLine("No FeatureMeasurementModel entry under the section [" +
section_name + "] in initalisation file.");
}
else
{
String type = (String)values[0];
Feature_Measurement_Model f_m_m =
model_creator.create_model(type, scene.get_motion_model(), MAXIMUM_ANGLE_DIFFERENCE);
if (f_m_m == null)
{
Debug.WriteLine("Unable to create a feature measurement model of type " +
type + " as requested in initalisation file.");
}
else
{
// Initialise the feature measurement model with any settings
f_m_m.read_parameters(settings);
// Read the feature state
Vector yi = new Vector(3);
Vector xp_orig = new Vector(7);
f_m_m.read_initial_state(section, yi, xp_orig);
// Initialise the feature
byte[] identifier =
sim_or_rob.initialise_known_feature(f_m_m, yi, section, path);
if (identifier == null)
{
Debug.WriteLine("Trouble reading known feature " +
section_name + " : skipping.");
}
else
{
scene.add_new_known_feature(identifier, yi, xp_orig, f_m_m, feature_no);
Debug.WriteLine("Added known feature " + Convert.ToString(feature_no));
num_features++;
}
}
}
feature_no++;
}
while (section != null);
return num_features;
}